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index ecbde4d278bc154a7d5f2f39c4979e7ef3e053f9..4c3d63a5109cdcacb63a27df5f5a8fb1ab814a9c 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_0035.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0035.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0056.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0056.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0059.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0059.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0063.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0063.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0064.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0064.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0084.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0084.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0087.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0087.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0091.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0091.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0092.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0092.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0096.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0096.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0102.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0102.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0115.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0115.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0119.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0119.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0120.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0120.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0124.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0124.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0142.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0142.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0146.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0146.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0150.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0150.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0165.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0165.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0169.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0169.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0173.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0173.json
new file mode 100644
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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_0196.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0196.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0200.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0200.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0201.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0201.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0205.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0205.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_0212.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0212.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0212.json
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0223.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0223.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_0224.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0224.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0232.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0232.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_0234.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0234.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0235.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0235.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_0236.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0236.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0237.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0237.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0238.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0238.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0239.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0239.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0240.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0240.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0241.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0241.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0242.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0242.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0243.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0243.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0244.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0244.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0245.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0245.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0246.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0246.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0247.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0247.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0248.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0248.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0249.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0249.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0250.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0250.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0251.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0251.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0252.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0252.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0253.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0253.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0254.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0254.json
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_0256.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0256.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0257.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0257.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0258.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0258.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0259.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0259.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0260.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0260.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0261.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0261.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0262.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0262.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0263.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0263.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0264.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0264.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0265.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0265.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0267.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0267.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0268.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0268.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0275.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0275.json
new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0276.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0276.json
new file mode 100644
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