diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_500.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_500.log
new file mode 100644
index 0000000000000000000000000000000000000000..2902dcc0e813bc78469e64c9cdaa43731ed6a3d4
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_500.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 28, "frame_index": 7}
+{"done": 16, "total": 28, "frame_index": 15}
+{"done": 24, "total": 28, "frame_index": 23}
+{"done": 28, "total": 28, "frame_index": 27}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_501.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_501.log
new file mode 100644
index 0000000000000000000000000000000000000000..33b6587bed0d0459cca492821870bfaf193494ef
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_501.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 28, "frame_index": 35}
+{"done": 16, "total": 28, "frame_index": 43}
+{"done": 24, "total": 28, "frame_index": 51}
+{"done": 28, "total": 28, "frame_index": 55}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_502.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_502.log
new file mode 100644
index 0000000000000000000000000000000000000000..268caa74e1fe9c91cf37932a78ff4d2021499458
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_502.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 28, "frame_index": 63}
+{"done": 16, "total": 28, "frame_index": 71}
+{"done": 24, "total": 28, "frame_index": 79}
+{"done": 28, "total": 28, "frame_index": 83}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_503.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_503.log
new file mode 100644
index 0000000000000000000000000000000000000000..2898d339e14c9e394ab56867718413e6a248b04c
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_503.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 28, "frame_index": 91}
+{"done": 16, "total": 28, "frame_index": 99}
+{"done": 24, "total": 28, "frame_index": 107}
+{"done": 28, "total": 28, "frame_index": 111}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_504.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_504.log
new file mode 100644
index 0000000000000000000000000000000000000000..214f893168881d64860a4950a84badd54ba69c2f
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_504.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 28, "frame_index": 119}
+{"done": 16, "total": 28, "frame_index": 127}
+{"done": 24, "total": 28, "frame_index": 135}
+{"done": 28, "total": 28, "frame_index": 139}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_505.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_505.log
new file mode 100644
index 0000000000000000000000000000000000000000..538ac0cbb77c3c60826c14e6df5d86a4fdb96c92
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_505.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 147}
+{"done": 16, "total": 27, "frame_index": 155}
+{"done": 24, "total": 27, "frame_index": 163}
+{"done": 27, "total": 27, "frame_index": 166}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_506.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_506.log
new file mode 100644
index 0000000000000000000000000000000000000000..4510ae406218dc23dec30d49332359ac68cdf1a8
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_506.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 174}
+{"done": 16, "total": 27, "frame_index": 182}
+{"done": 24, "total": 27, "frame_index": 190}
+{"done": 27, "total": 27, "frame_index": 193}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_507.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_507.log
new file mode 100644
index 0000000000000000000000000000000000000000..5fdfa49d66c42cd7cd99f3c788d1bab293df59bf
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_507.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 201}
+{"done": 16, "total": 27, "frame_index": 209}
+{"done": 24, "total": 27, "frame_index": 217}
+{"done": 27, "total": 27, "frame_index": 220}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_508.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_508.log
new file mode 100644
index 0000000000000000000000000000000000000000..d75af9757f7808419a58f55972a89800b3ca75d8
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_508.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 228}
+{"done": 16, "total": 27, "frame_index": 236}
+{"done": 24, "total": 27, "frame_index": 244}
+{"done": 27, "total": 27, "frame_index": 247}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_509.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_509.log
new file mode 100644
index 0000000000000000000000000000000000000000..991b5d822b3e2cb2962118ff8b29e7289a06e62a
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_509.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 255}
+{"done": 16, "total": 27, "frame_index": 263}
+{"done": 24, "total": 27, "frame_index": 271}
+{"done": 27, "total": 27, "frame_index": 274}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_510.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_510.log
new file mode 100644
index 0000000000000000000000000000000000000000..053086c4b831533daf4542f3cfbea6fa390986c0
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_510.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 282}
+{"done": 16, "total": 27, "frame_index": 290}
+{"done": 24, "total": 27, "frame_index": 298}
+{"done": 27, "total": 27, "frame_index": 301}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_511.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_511.log
new file mode 100644
index 0000000000000000000000000000000000000000..a9aee9d4079a29e6ab91b5e19f832b5df1bdd43e
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/logs/worker_511.log
@@ -0,0 +1,8 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+{"done": 8, "total": 27, "frame_index": 309}
+{"done": 16, "total": 27, "frame_index": 317}
+{"done": 24, "total": 27, "frame_index": 325}
+{"done": 27, "total": 27, "frame_index": 328}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_500.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_500.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_501.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_501.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_502.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_502.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_503.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_503.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_504.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_504.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_505.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_505.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_506.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_506.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_507.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_507.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_508.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_508.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_509.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_509.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_510.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_510.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_511.log b/artifacts/debug/iter22_scratch/episode0/recompute/logs/xvfb_511.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0003.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0003.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f44c4050eb0408b0b53136ca55635fb3367fbc
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0003.json
@@ -0,0 +1 @@
+{"frame_index": 3, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4843712494351362, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0004.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0004.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd123447504b736d08d6700f6f5e1b06d0576714
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0004.json
@@ -0,0 +1 @@
+{"frame_index": 4, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48247560487485197, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0007.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0007.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2adad3d89582bb43040e95bae8d79a51c9d6e98
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0007.json
@@ -0,0 +1 @@
+{"frame_index": 7, "pregrasp_progress": 0.0, "pregrasp_distance": 0.47427394583732607, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0008.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0008.json
new file mode 100644
index 0000000000000000000000000000000000000000..4660a298584b5bca89aeec8efdf15f7dd3b70e78
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0008.json
@@ -0,0 +1 @@
+{"frame_index": 8, "pregrasp_progress": 0.0, "pregrasp_distance": 0.47095110933715356, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0010.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0010.json
new file mode 100644
index 0000000000000000000000000000000000000000..24807209398e349850cc819580fbd7f25ef2eb74
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0010.json
@@ -0,0 +1 @@
+{"frame_index": 10, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4639321194484698, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0011.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0011.json
new file mode 100644
index 0000000000000000000000000000000000000000..f85d5e5884a2a87d2756718d52f95604599e031d
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0011.json
@@ -0,0 +1 @@
+{"frame_index": 11, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4602055023616622, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0012.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0012.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87071337f58030342c005995118f53820e315de
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0012.json
@@ -0,0 +1 @@
+{"frame_index": 12, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4562295096420289, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0013.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0013.json
new file mode 100644
index 0000000000000000000000000000000000000000..c443a3831e766a3652e6b74e750255ef95980b94
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0013.json
@@ -0,0 +1 @@
+{"frame_index": 13, "pregrasp_progress": 0.0, "pregrasp_distance": 0.45213251091788653, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0014.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e67f80320f8e69eb315140431772ce04ae3018b
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0014.json
@@ -0,0 +1 @@
+{"frame_index": 14, "pregrasp_progress": 0.0, "pregrasp_distance": 0.44795001854684735, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0015.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..72cf875d2ec8327880ba8dedb28394e62680bb2f
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0015.json
@@ -0,0 +1 @@
+{"frame_index": 15, "pregrasp_progress": 0.0, "pregrasp_distance": 0.44353847224457543, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0016.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..7841c76b9bbd06b55505e56360dfb7497f7bd05e
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0016.json
@@ -0,0 +1 @@
+{"frame_index": 16, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4391703995974524, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}
\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0017.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace9cf3c6b45b65aa12e7c8d0dc402642988a8b9
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0017.json
@@ -0,0 +1 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0047.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0047.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0054.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0054.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0062.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0062.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0065.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0065.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0066.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0066.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0067.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0067.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0068.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0068.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0069.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0069.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0070.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0070.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0071.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0071.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0072.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0072.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0073.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0073.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0074.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0074.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0075.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0075.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0076.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0076.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0077.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0077.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0078.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0078.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0079.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0079.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0080.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0080.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0081.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0081.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0082.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0082.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0083.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0083.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0088.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0088.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0089.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0089.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0089.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0090.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0090.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0093.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0093.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0094.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0094.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0095.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0095.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0097.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0097.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0098.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0098.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0099.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0099.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0100.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0100.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0101.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0101.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0103.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0103.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0104.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0104.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0105.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0105.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0106.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0106.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0107.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0107.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0108.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0108.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0109.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0109.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0110.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0110.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0111.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0111.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0112.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0112.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0116.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0116.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0117.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0117.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0118.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0118.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0121.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0121.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0122.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0122.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0123.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0123.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0125.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0125.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0126.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0126.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0127.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0127.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0128.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0128.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0129.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0129.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0130.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0130.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0131.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0131.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0132.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0132.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0133.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0133.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0133.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0134.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0134.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0134.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0135.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0135.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0135.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0136.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0136.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0137.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0137.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0138.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0138.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0138.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0139.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0139.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0139.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0140.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0140.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0140.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0143.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0143.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0143.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0144.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0144.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0144.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0147.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0147.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0147.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0148.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0148.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0148.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0149.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0149.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0151.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0151.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0152.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0152.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0153.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0153.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0154.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0154.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0155.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0155.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0156.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0156.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0157.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0157.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0158.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0158.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0159.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0159.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0160.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0160.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0161.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0161.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0162.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0162.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0163.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0163.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0164.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0164.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0166.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0166.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0166.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0167.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0167.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0170.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0170.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0170.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0171.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0171.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0174.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0174.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0174.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0175.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0175.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0175.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0176.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0176.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0176.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0178.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0178.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0178.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0179.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0179.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0179.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0180.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0180.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0180.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0181.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0181.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0181.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0182.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0182.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0182.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0183.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0183.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0183.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0184.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0184.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0184.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0185.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0185.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0185.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0186.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0186.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0186.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0187.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0187.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0187.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0188.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0188.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0189.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0189.json
new file mode 100644
index 0000000000000000000000000000000000000000..041c1ad807360647adda988a2a392d2814882cf5
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0190.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0190.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0191.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0191.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0192.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0192.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0194.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0194.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0197.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0197.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0198.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0198.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0199.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0199.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0202.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0202.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0203.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0203.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0204.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0204.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0206.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0206.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0207.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0207.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0208.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0208.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0209.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0209.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0210.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0210.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0211.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0211.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0211.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0213.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0213.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0213.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0214.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0214.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0214.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0215.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0215.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0216.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0216.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0216.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0217.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0217.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0217.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0218.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0218.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0218.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0219.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0219.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0219.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0220.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0220.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0220.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0221.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0221.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0221.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0225.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0225.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0225.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0226.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0226.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0226.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0227.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0227.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0227.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0228.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0228.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0228.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0266.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0266.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0266.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0269.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0269.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0269.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0270.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0270.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca989348047f497aa54130b144e086a1310f8b5
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0271.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0271.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0272.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0272.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0273.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0273.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0274.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0274.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0279.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0279.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0280.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0280.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0281.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0281.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0282.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0282.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0283.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0283.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0284.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0284.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0285.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0285.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0286.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0286.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0287.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0287.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0288.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0288.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0289.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0289.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0290.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0290.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0291.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0291.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0292.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0292.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0293.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0293.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0294.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0294.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0295.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0295.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0296.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0296.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0297.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0297.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0298.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0298.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0299.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0299.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0300.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0300.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0300.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0301.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0301.json
new file mode 100644
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0316.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0316.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0317.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0317.json
new file mode 100644
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@@ -0,0 +1 @@
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new file mode 100644
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--- /dev/null
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0319.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0319.json
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0319.json
@@ -0,0 +1 @@
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0320.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0320.json
new file mode 100644
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@@ -0,0 +1 @@
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