diff --git a/navipy/resources/sample_experiment/vanHateren1999/h03.csv b/navipy/resources/sample_experiment/vanHateren1999/h03.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d669ae32c8127b657fc14d02063cdb1a36b6e71c
--- /dev/null
+++ b/navipy/resources/sample_experiment/vanHateren1999/h03.csv
@@ -0,0 +1,3969 @@
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+3953,125.43,105.23584,54.16398,12.392023,0.4195809,-0.4878142
+3954,125.42114,105.05912,53.5985,12.410923,0.4020778,-0.4972326
+3955,125.37715,104.8705,53.0253,12.429611,0.386492,-0.505623
+3956,125.3048,104.6496,52.454,12.448779,0.3730064,-0.5124904
+3957,125.19435,104.40357,51.89175,12.467608,0.3597681,-0.5169182
+3958,125.04946,104.12614,51.35672,12.483324,0.345607,-0.5189332
+3959,124.86621,103.81035,50.84587,12.494979,0.3305761,-0.5200655
+3960,124.6332,103.4562,50.3706,12.503238,0.315162,-0.5209
+3961,124.35114,103.06718,49.92369,12.509576,0.3013805,-0.5206953
+3962,123.99514,102.63282,49.50398,12.514675,0.290289,-0.5202442
+3963,123.55893,102.15126,49.09194,12.519314,0.2817922,-0.5204534
+3964,123.04576,101.616,48.68432,12.524053,0.2761504,-0.5205024
+3965,122.4045,101.0082,48.29855,12.528181,0.2709745,-0.5202815
+3966,121.74574,100.4215,47.95878,12.530561,0.267206,-0.5195242
diff --git a/navipy/resources/sample_experiment/vanHateren1999/h03.tra b/navipy/resources/sample_experiment/vanHateren1999/h03.tra
new file mode 100644
index 0000000000000000000000000000000000000000..665e141e6a27e03b115c85d971cc1e48b057b39a
Binary files /dev/null and b/navipy/resources/sample_experiment/vanHateren1999/h03.tra differ
diff --git a/navipy/scripts/blend_ongrid.py b/navipy/scripts/blend_ongrid.py
index 8d96a81a49585515994f1b654505f1ce6f8277bb..21072b3d43f66e29ae3e0c79b888f7a71d5d44eb 100644
--- a/navipy/scripts/blend_ongrid.py
+++ b/navipy/scripts/blend_ongrid.py
@@ -2,28 +2,30 @@
 
 """
 import sys
-import argparse
 import os
 import inspect
 import pkg_resources
 import tempfile
+from navipy.scripts import parser_logger, args_to_logparam
 # Following need to be imported in blender as well
 import yaml
 import numpy as np
 from navipy.sensors.renderer import BlenderRender
 import navipy.maths.constants as mconst
+from navipy import logger
 
 
 importwithinblender = [
     'import yaml',
     'import numpy as np',
     'from navipy.sensors.renderer import BlenderRender',
-    'import navipy.maths.constants as mconst']
+    'import navipy.maths.constants as mconst',
+    'from navipy import logger']
 
 
 def parser_blend_ongrid():
     # Create command line options
-    parser = argparse.ArgumentParser()
+    parser = parser_logger()
     arghelp = 'Path to the environment (.blend) in which your agent lives'
     defaultworld = pkg_resources.resource_filename(
         'navipy', 'resources/twocylinders_world.blend')
@@ -52,18 +54,11 @@ def parser_blend_ongrid():
                         default=None,
                         help=arghelp)
 
-    arghelp = 'To display some stuff \n'
-    arghelp += ' * -v print command \n'
-    arghelp += ' * -vv print also script'
-    parser.add_argument('-v', '--verbose',
-                        action='count',
-                        default=0,
-                        help=arghelp)
-
     return parser
 
 
-def run(config_file, outputfile):
+def run(config_file, outputfile, level, logfile):
+    logger(level, logfile)
     renderer = BlenderRender()
     renderer.config_file = config_file
     try:
@@ -136,6 +131,7 @@ def main():
 
     # Fetch arguments
     args = parser_blend_ongrid().parse_args()
+    loglevel, logfile = args_to_logparam(args)
     # Some output
     print('-----')
     print('Config file:\n{}'.format(args.config_file))
@@ -154,8 +150,9 @@ def main():
             tfile.write(line.encode(encoding))
         tfile.write('\n\n'.encode(encoding))
         tfile.write('try:\n'.encode(encoding))
-        tfile.write('     run("{}","{}")\n'.format(
-            args.config_file, args.output_file).encode(encoding))
+        tfile.write('     run("{}","{}",{},"{}")\n'.format(
+            args.config_file, args.output_file, loglevel,
+            logfile).encode(encoding))
         tfile.write('     sys.exit(0)\n'.encode(encoding))
         tfile.write('except Exception:\n'.encode(encoding))
         tfile.write('     sys.exit(1)\n'.encode(encoding))
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 9590ab80a84c66fa3b9702afb5f9dbccb0edcd88..f7408769dde0ec79461ff1d6e938283ffa0c7383 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -483,6 +483,7 @@ class BlenderRender(AbstractRender):
         .. note: A temporary file will be written on the harddrive,
                  due to API blender limitation
         """
+        self._logger.info('get image')
         # save image as a temporary file, and then loaded
         # sadly the rendered image pixels can not directly be access
         keyframe = bpy.context.scene.frame_current
@@ -492,6 +493,9 @@ class BlenderRender(AbstractRender):
                                 self.tmp_fileoutput['ext'])
         im_width, im_height = self.camera_resolution
         im = bpy.data.images.load(filename)
+        # remote image once we read it. To avoid storing all images
+        self._logger.debug('Delete file {}'.format(filename))
+        os.remove(filename)
         pixels = np.array(im.pixels)
         pixels = pixels.reshape([im_height, im_width, -1])
         # The last channel is the alpha channel
@@ -511,6 +515,7 @@ class BlenderRender(AbstractRender):
         .. todo: use @property
                      def distance(self)
         """
+        self._logger.info('get distances')
         # save image as a temporary file, and then loaded
         # sadly the rendered image pixels can not directly be access
         keyframe = bpy.context.scene.frame_current
@@ -520,6 +525,8 @@ class BlenderRender(AbstractRender):
                                 self.tmp_fileoutput['ext'])
         im_width, im_height = self.camera_resolution
         im = bpy.data.images.load(filename)
+        # remote image once we read it. To avoid storing all images
+        # somehow failing os.remove(filename)
         distance = np.array(im.pixels)
         distance = distance.reshape([im_height, im_width, -1])
         # Distance are channel independent