diff --git a/episode_0009/servo_data.json b/episode_0009/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0119, "i": 0, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.0571, "i": 1, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.101, "i": 2, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.1459, "i": 3, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.1902, "i": 4, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.2341, "i": 5, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.2774, "i": 6, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.3243, "i": 7, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.3676, "i": 8, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.4116, "i": 9, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -2.4, "gripper.pos": 0.4}}, {"t": 0.4577, "i": 10, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.4, "wrist_roll.pos": -2.4, "gripper.pos": 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{"shoulder_pan.pos": -4.8, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 90.3, "wrist_flex.pos": 65.3, "wrist_roll.pos": 6.8, "gripper.pos": 0.4}}, {"t": 1.0656, "i": 23, "pos": {"shoulder_pan.pos": -7.0, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 88.9, "wrist_flex.pos": 65.6, "wrist_roll.pos": 6.7, "gripper.pos": 0.4}}, {"t": 1.1103, "i": 24, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 87.0, "wrist_flex.pos": 66.9, "wrist_roll.pos": 6.9, "gripper.pos": 0.4}}, {"t": 1.1562, "i": 25, "pos": {"shoulder_pan.pos": -12.7, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 84.6, "wrist_flex.pos": 68.6, "wrist_roll.pos": 7.4, "gripper.pos": 0.4}}, {"t": 1.1993, "i": 26, "pos": {"shoulder_pan.pos": -18.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 80.5, "wrist_flex.pos": 70.9, "wrist_roll.pos": 8.2, "gripper.pos": 0.4}}, {"t": 1.2416, "i": 27, "pos": {"shoulder_pan.pos": -20.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 79.2, "wrist_flex.pos": 71.2, 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