diff --git a/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0172.json b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0172.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d8f76354c7f13c1ad99fde44b92ce3d2e4c1f5
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0172.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_520.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_520.log
new file mode 100644
index 0000000000000000000000000000000000000000..d939663a919149400b7a99ad4361a17681b04e3d
--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_520.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 7}
+{"done": 16, "total": 26, "frame_index": 15}
+{"done": 24, "total": 26, "frame_index": 23}
+{"done": 26, "total": 26, "frame_index": 25}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_521.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_521.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_521.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 33}
+{"done": 16, "total": 26, "frame_index": 41}
+{"done": 24, "total": 26, "frame_index": 49}
+{"done": 26, "total": 26, "frame_index": 51}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_522.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_522.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_522.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 59}
+{"done": 16, "total": 26, "frame_index": 67}
+{"done": 24, "total": 26, "frame_index": 75}
+{"done": 26, "total": 26, "frame_index": 77}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_523.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_523.log
new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_523.log
@@ -0,0 +1,6 @@
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+{"done": 8, "total": 26, "frame_index": 85}
+{"done": 16, "total": 26, "frame_index": 93}
+{"done": 24, "total": 26, "frame_index": 101}
+{"done": 26, "total": 26, "frame_index": 103}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_524.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_524.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_524.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 111}
+{"done": 16, "total": 26, "frame_index": 119}
+{"done": 24, "total": 26, "frame_index": 127}
+{"done": 26, "total": 26, "frame_index": 129}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_525.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_525.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_525.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 137}
+{"done": 16, "total": 26, "frame_index": 145}
+{"done": 24, "total": 26, "frame_index": 153}
+{"done": 26, "total": 26, "frame_index": 155}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_526.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_526.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_526.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 163}
+{"done": 16, "total": 26, "frame_index": 171}
+{"done": 24, "total": 26, "frame_index": 179}
+{"done": 26, "total": 26, "frame_index": 181}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_527.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_527.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_527.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 189}
+{"done": 16, "total": 26, "frame_index": 197}
+{"done": 24, "total": 26, "frame_index": 205}
+{"done": 26, "total": 26, "frame_index": 207}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_528.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_528.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_528.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 215}
+{"done": 16, "total": 26, "frame_index": 223}
+{"done": 24, "total": 26, "frame_index": 231}
+{"done": 26, "total": 26, "frame_index": 233}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_529.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_529.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_529.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 241}
+{"done": 16, "total": 26, "frame_index": 249}
+{"done": 24, "total": 26, "frame_index": 257}
+{"done": 26, "total": 26, "frame_index": 259}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_530.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_530.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_530.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 267}
+{"done": 16, "total": 26, "frame_index": 275}
+{"done": 24, "total": 26, "frame_index": 283}
+{"done": 26, "total": 26, "frame_index": 285}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_531.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_531.log
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/logs/worker_531.log
@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+{"done": 8, "total": 26, "frame_index": 293}
+{"done": 16, "total": 26, "frame_index": 301}
+{"done": 24, "total": 26, "frame_index": 309}
+{"done": 26, "total": 26, "frame_index": 311}
+[CoppeliaSim:loadinfo]   done.
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/xvfb_520.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/xvfb_520.log
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new file mode 100644
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diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/logs/xvfb_531.log b/artifacts/debug/iter22_scratch/episode1/recompute/logs/xvfb_531.log
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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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0019.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0019.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0020.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0020.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0021.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0021.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0022.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0022.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0023.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0023.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0024.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0024.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0024.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0025.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0025.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0025.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0049.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0049.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0051.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0051.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0051.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0077.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0077.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0077.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0103.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0103.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0103.json
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0127.json
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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+++ b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0128.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0149.json b/artifacts/debug/iter22_scratch/episode1/recompute/pregrasp_rows/frame_0149.json
new file mode 100644
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@@ -0,0 +1 @@
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