diff --git a/episode_0029/servo_data.json b/episode_0029/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0145, "i": 0, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.0679, "i": 1, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.1149, "i": 2, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.1609, "i": 3, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.2164, "i": 4, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.3, "gripper.pos": 0.4}}, {"t": 0.2631, "i": 5, "pos": {"shoulder_pan.pos": 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