diff --git a/episode_0008/servo_data.json b/episode_0008/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0203, "i": 0, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.2, "gripper.pos": 0.0}}, {"t": 0.0629, "i": 1, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.1, "gripper.pos": 0.0}}, {"t": 0.1071, "i": 2, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.1507, "i": 3, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.1948, "i": 4, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.2386, "i": 5, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.2819, "i": 6, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.3266, "i": 7, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.2, "gripper.pos": 0.0}}, {"t": 0.3794, "i": 8, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -3.0, "gripper.pos": 0.0}}, {"t": 0.4247, "i": 9, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -2.9, "gripper.pos": 0.0}}, {"t": 0.4725, "i": 10, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.1, "wrist_roll.pos": -2.9, "gripper.pos": 0.0}}, {"t": 0.5189, "i": 11, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 68.0, "wrist_roll.pos": -2.7, "gripper.pos": 0.0}}, {"t": 0.5621, "i": 12, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.9, "wrist_flex.pos": 68.0, "wrist_roll.pos": -1.6, "gripper.pos": 0.0}}, {"t": 0.6086, "i": 13, "pos": {"shoulder_pan.pos": -1.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.9, "wrist_flex.pos": 68.0, "wrist_roll.pos": 0.2, "gripper.pos": 0.0}}, {"t": 0.653, "i": 14, "pos": {"shoulder_pan.pos": -0.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 93.6, "wrist_flex.pos": 68.0, "wrist_roll.pos": 5.4, "gripper.pos": 0.0}}, {"t": 0.6992, "i": 15, "pos": {"shoulder_pan.pos": -0.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 67.9, "wrist_roll.pos": 7.2, "gripper.pos": 0.0}}, {"t": 0.7451, "i": 16, "pos": {"shoulder_pan.pos": -0.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.3, "wrist_flex.pos": 68.0, "wrist_roll.pos": 7.9, "gripper.pos": 0.0}}, {"t": 0.7983, "i": 17, "pos": {"shoulder_pan.pos": -0.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 86.7, "wrist_flex.pos": 68.2, "wrist_roll.pos": 7.9, "gripper.pos": 0.0}}, {"t": 0.8467, "i": 18, "pos": {"shoulder_pan.pos": -0.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 82.3, "wrist_flex.pos": 68.9, "wrist_roll.pos": 8.0, "gripper.pos": 0.0}}, {"t": 0.8952, "i": 19, "pos": {"shoulder_pan.pos": -0.7, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 78.0, "wrist_flex.pos": 69.7, "wrist_roll.pos": 8.2, "gripper.pos": 0.0}}, {"t": 0.9443, "i": 20, "pos": {"shoulder_pan.pos": -0.8, "shoulder_lift.pos": -97.1, "elbow_flex.pos": 69.0, "wrist_flex.pos": 72.2, "wrist_roll.pos": 10.0, "gripper.pos": 0.1}}, {"t": 0.9941, "i": 21, "pos": {"shoulder_pan.pos": -0.6, "shoulder_lift.pos": -95.0, "elbow_flex.pos": 65.3, "wrist_flex.pos": 72.8, "wrist_roll.pos": 10.5, "gripper.pos": 0.1}}, {"t": 1.0429, "i": 22, "pos": {"shoulder_pan.pos": -0.6, "shoulder_lift.pos": -92.2, "elbow_flex.pos": 61.9, "wrist_flex.pos": 73.5, "wrist_roll.pos": 10.7, "gripper.pos": 0.1}}, {"t": 1.087, "i": 23, "pos": {"shoulder_pan.pos": -0.2, "shoulder_lift.pos": -88.6, "elbow_flex.pos": 58.5, "wrist_flex.pos": 73.6, "wrist_roll.pos": 10.6, "gripper.pos": 0.1}}, {"t": 1.1313, "i": 24, "pos": {"shoulder_pan.pos": 1.1, "shoulder_lift.pos": -84.3, "elbow_flex.pos": 54.9, "wrist_flex.pos": 73.6, "wrist_roll.pos": 10.6, "gripper.pos": 0.1}}, {"t": 1.1837, "i": 25, "pos": {"shoulder_pan.pos": 3.2, "shoulder_lift.pos": -79.4, "elbow_flex.pos": 51.5, "wrist_flex.pos": 73.5, "wrist_roll.pos": 10.5, "gripper.pos": 0.1}}, {"t": 1.2373, "i": 26, "pos": {"shoulder_pan.pos": 7.1, "shoulder_lift.pos": -68.9, "elbow_flex.pos": 43.7, "wrist_flex.pos": 73.5, "wrist_roll.pos": 10.5, "gripper.pos": 0.1}}, {"t": 1.2824, "i": 27, "pos": {"shoulder_pan.pos": 8.8, "shoulder_lift.pos": -63.7, "elbow_flex.pos": 39.9, 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