diff --git a/episode_0014/servo_data.json b/episode_0014/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0177, "i": 0, "pos": {"shoulder_pan.pos": -0.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": -0.3, "gripper.pos": 0.6}}, {"t": 0.0626, "i": 1, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": -0.2, "gripper.pos": 0.6}}, {"t": 0.1107, "i": 2, "pos": {"shoulder_pan.pos": -1.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": -0.3, "gripper.pos": 0.6}}, {"t": 0.1627, "i": 3, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": -0.2, "gripper.pos": 0.6}}, {"t": 0.2171, "i": 4, "pos": {"shoulder_pan.pos": -1.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": -0.2, "gripper.pos": 0.6}}, {"t": 0.268, "i": 5, "pos": {"shoulder_pan.pos": -1.4, 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{"t": 1.0573, "i": 22, "pos": {"shoulder_pan.pos": -3.0, "shoulder_lift.pos": -97.6, "elbow_flex.pos": 91.6, "wrist_flex.pos": 74.1, "wrist_roll.pos": -0.0, "gripper.pos": 1.0}}, {"t": 1.1039, "i": 23, "pos": {"shoulder_pan.pos": -2.9, "shoulder_lift.pos": -95.2, "elbow_flex.pos": 91.4, "wrist_flex.pos": 72.5, "wrist_roll.pos": -0.0, "gripper.pos": 1.0}}, {"t": 1.1508, "i": 24, "pos": {"shoulder_pan.pos": -2.6, "shoulder_lift.pos": -91.5, "elbow_flex.pos": 90.8, "wrist_flex.pos": 69.6, "wrist_roll.pos": -0.0, "gripper.pos": 0.6}}, {"t": 1.2014, "i": 25, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -80.7, "elbow_flex.pos": 89.3, "wrist_flex.pos": 60.8, "wrist_roll.pos": -0.0, "gripper.pos": 0.6}}, {"t": 1.2439, "i": 26, "pos": {"shoulder_pan.pos": -1.7, "shoulder_lift.pos": -74.8, "elbow_flex.pos": 88.0, "wrist_flex.pos": 56.4, "wrist_roll.pos": -0.0, "gripper.pos": 0.6}}, {"t": 1.2867, "i": 27, "pos": {"shoulder_pan.pos": -1.0, "shoulder_lift.pos": -68.6, "elbow_flex.pos": 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