diff --git a/episode_0005/servo_data.json b/episode_0005/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.018, "i": 0, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.0638, "i": 1, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.1078, "i": 2, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.1}}, {"t": 0.1516, "i": 3, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.2}}, {"t": 0.1981, "i": 4, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.2412, "i": 5, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.2844, "i": 6, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.3275, "i": 7, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.3712, "i": 8, "pos": {"shoulder_pan.pos": -2.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.1, "gripper.pos": 2.0}}, {"t": 0.4154, "i": 9, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 0.4591, "i": 10, "pos": {"shoulder_pan.pos": -1.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.1, 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0.9984, "i": 22, "pos": {"shoulder_pan.pos": -2.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.2, "gripper.pos": 2.0}}, {"t": 1.0442, "i": 23, "pos": {"shoulder_pan.pos": -1.9, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.1, "gripper.pos": 2.0}}, {"t": 1.0897, "i": 24, "pos": {"shoulder_pan.pos": -1.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.2, "gripper.pos": 2.0}}, {"t": 1.1455, "i": 25, "pos": {"shoulder_pan.pos": -1.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.1, "gripper.pos": 2.0}}, {"t": 1.1898, "i": 26, "pos": {"shoulder_pan.pos": -1.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": -3.0, "gripper.pos": 2.0}}, {"t": 1.2349, "i": 27, "pos": {"shoulder_pan.pos": -2.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, 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