logger initialized
{'do_eval': False, 'do_train': True, 'monty_config': {'monty_class': <class 'tbp.monty.frameworks.models.evidence_matching.model.MontyForEvidenceGraphMatching'>, 'monty_args': {'num_exploratory_steps': 1000, 'min_eval_steps': 3, 'min_train_steps': 3, 'max_total_steps': 2500}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x7dacfe3d1910>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7dacfe3d1370>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7dacfe2094c0>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7dacfe2096a0>, 'sensor_module_1': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7dacfe228be0>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x7dacfe2348e0>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1]], 'lm_to_lm_matrix': [[], [0]], 'lm_to_lm_vote_matrix': None}, 'environment': {'env_init_args': {'objects': [{'name': 'coneSolid', 'position': [0.0, 1.5, -0.1]}], 'scene_id': None, 'seed': 42, 'data_path': '/home/hlee/tbp/data/habitat/objects/compositional_objects', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [64, 64], [64, 64]], 'positions': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rotations': [[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False], 'zooms': [10.0, 5.0, 1.0]}, 'agent_type': <class 'tbp.monty.simulators.habitat.agents.MultiSensorAgent'>}}, 'env_init_func': <class 'tbp.monty.simulators.habitat.environment.HabitatEnvironment'>, 'transform': [<tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x7dacfe3798b0>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x7dacfe379910>]}, 'train_env_interface_args': {'parent_to_child_mapping': None, 'object_names': ['001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube', '001_cube'], 'object_init_sampler': <tbp.monty.frameworks.environments.object_init_samplers.Predefined object at 0x7dacfe28cb20>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7dacfe2a4fa0>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7dacfe2a80d0>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'logging': {'monty_log_level': 'SILENT', 'monty_handlers': [], 'wandb_handlers': [], 'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_001_cube/pretrained'), 'resume_wandb_run': False, 'wandb_id': 'b8cqdggi', 'wandb_group': '20260630_compositional_configs', 'run_name': 'supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_001_cube', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'max_train_steps': 1000, 'max_eval_steps': 500, 'max_total_steps': 6000, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', 'min_lms_match': 1, 'seed': 42, 'supervised_lm_ids': ['learning_module_0']}
running train epoch 0
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 0
resetting RNG to seed 1060955053
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
001_cube not in memory ([])
Adding a new graph to memory.
init object model with id 001_cube
building graph from 98 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7dacfd183160>
Added new graph with id 001_cube to memory.
Model for 001_cube:
   Contains 98 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 0 to 1 of 14
New primary target: {'euler_rotation': [0, 90, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.        , 0.70710678, 0.        ]),
 'rotation': (0.7071067811865476, 0.0, 0.7071067811865475, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 1
resetting RNG to seed 1260428609
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > 0.9165461543071418)
current most likely hypothesis: 001_cube with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -0.08345384569285819)
current most likely hypothesis: 001_cube with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -1.0834538456928582)
current most likely hypothesis: 001_cube with evidence 5.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -2.0834538456928584)
current most likely hypothesis: 001_cube with evidence 6.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -3.0834538456928584)
current most likely hypothesis: 001_cube with evidence 8.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -4.083453845692858)
current most likely hypothesis: 001_cube with evidence 9.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -5.083453845692858)
current most likely hypothesis: 001_cube with evidence 11.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -6.083453845692858)
current most likely hypothesis: 001_cube with evidence 12.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -7.083453845692858)
current most likely hypothesis: 001_cube with evidence 14.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -8.083453845692858)
current most likely hypothesis: 001_cube with evidence 15.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -9.083453845692858)
current most likely hypothesis: 001_cube with evidence 17.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -10.083453845692858)
current most likely hypothesis: 001_cube with evidence 18.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 784 out of 784 hypotheses for 001_cube (evidence > -11.083453845692858)
current most likely hypothesis: 001_cube with evidence 20.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01863315  1.48046716  0.04999998]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.019  1.48   0.05 ], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 99 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 190 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 1 to 2 of 14
New primary target: {'euler_rotation': [0, 180, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([6.123234e-17, 0.000000e+00, 1.000000e+00, 0.000000e+00]),
 'rotation': (6.123233995736766e-17, 0.0, 1.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 2
resetting RNG to seed 3997959863
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > 0.8745733908496348)
current most likely hypothesis: 001_cube with evidence 2.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -0.1254266091503652)
current most likely hypothesis: 001_cube with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -1.1254266091503653)
current most likely hypothesis: 001_cube with evidence 5.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -2.1254266091503653)
current most likely hypothesis: 001_cube with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -3.1254266091503653)
current most likely hypothesis: 001_cube with evidence 8.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -4.125426609150365)
current most likely hypothesis: 001_cube with evidence 9.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -5.125426609150365)
current most likely hypothesis: 001_cube with evidence 11.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -6.125426609150365)
current most likely hypothesis: 001_cube with evidence 12.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -7.125426609150365)
current most likely hypothesis: 001_cube with evidence 14.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -8.125426609150365)
current most likely hypothesis: 001_cube with evidence 15.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -9.125426609150365)
current most likely hypothesis: 001_cube with evidence 17.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -10.125426609150365)
current most likely hypothesis: 001_cube with evidence 18.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -11.125426609150365)
current most likely hypothesis: 001_cube with evidence 20.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.03431657  1.48046716  0.01568341]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -12.125426609150365)
current most likely hypothesis: 001_cube with evidence 21.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.02800426  1.48105513  0.02199603]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -13.125426609150365)
current most likely hypothesis: 001_cube with evidence 23.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.02188027  1.48104978  0.02812039]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -14.125426609150365)
current most likely hypothesis: 001_cube with evidence 24.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.01556069  1.48045022  0.03444027]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -15.125426609150365)
current most likely hypothesis: 001_cube with evidence 25.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.01556239  1.49354113  0.03443826]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1520 out of 1520 hypotheses for 001_cube (evidence > -16.125426609150367)
current most likely hypothesis: 001_cube with evidence 27.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.01556218  1.50622698  0.03443812]
added symmetry evidence
Symmetry detected for hypotheses [ 55 171]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.506  0.019], rotation [ 0. 90.  0.], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 98 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 281 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 2 to 3 of 14
New primary target: {'euler_rotation': [0, 270, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.70710678,  0.        ,  0.70710678,  0.        ]),
 'rotation': (-0.7071067811865475, 0.0, 0.7071067811865476, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 3
resetting RNG to seed 99937259
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > 0.8923138350627727)
current most likely hypothesis: 001_cube with evidence 2.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -0.10768616493722727)
current most likely hypothesis: 001_cube with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -1.1076861649372272)
current most likely hypothesis: 001_cube with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -2.107686164937227)
current most likely hypothesis: 001_cube with evidence 6.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -3.107686164937227)
current most likely hypothesis: 001_cube with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -4.107686164937228)
current most likely hypothesis: 001_cube with evidence 9.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -5.107686164937228)
current most likely hypothesis: 001_cube with evidence 11.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -6.107686164937228)
current most likely hypothesis: 001_cube with evidence 12.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -7.107686164937228)
current most likely hypothesis: 001_cube with evidence 14.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -8.107686164937228)
current most likely hypothesis: 001_cube with evidence 15.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -9.107686164937228)
current most likely hypothesis: 001_cube with evidence 17.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -10.107686164937228)
current most likely hypothesis: 001_cube with evidence 18.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -11.107686164937228)
current most likely hypothesis: 001_cube with evidence 20.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01666666  1.48046716 -0.00621105]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -12.107686164937228)
current most likely hypothesis: 001_cube with evidence 21.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.01666675  1.48105512 -0.00200274]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -13.107686164937228)
current most likely hypothesis: 001_cube with evidence 22.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.01666688  1.48104977  0.00208004]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -14.107686164937228)
current most likely hypothesis: 001_cube with evidence 24.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.01666699  1.48045022  0.00629319]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -15.107686164937228)
current most likely hypothesis: 001_cube with evidence 25.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.01666687  1.49354113  0.00629196]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2248 out of 2248 hypotheses for 001_cube (evidence > -16.107686164937228)
current most likely hypothesis: 001_cube with evidence 27.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.01666678  1.50622697  0.00629198]
added symmetry evidence
Symmetry detected for hypotheses [ 18 278 279]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.019  1.506 -0.05 ], rotation [180.   0. 180.], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 98 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 365 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 3 to 4 of 14
New primary target: {'euler_rotation': [90, 0, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.70710678, 0.        , 0.        ]),
 'rotation': (0.7071067811865476, 0.7071067811865475, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 4
resetting RNG to seed 560786102
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > 0.9195603934956404)
current most likely hypothesis: 001_cube with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -0.08043960650435955)
current most likely hypothesis: 001_cube with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -1.0804396065043596)
current most likely hypothesis: 001_cube with evidence 5.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -2.0804396065043598)
current most likely hypothesis: 001_cube with evidence 6.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -3.0804396065043598)
current most likely hypothesis: 001_cube with evidence 8.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -4.08043960650436)
current most likely hypothesis: 001_cube with evidence 9.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -5.08043960650436)
current most likely hypothesis: 001_cube with evidence 11.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -6.08043960650436)
current most likely hypothesis: 001_cube with evidence 12.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -7.08043960650436)
current most likely hypothesis: 001_cube with evidence 14.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -8.08043960650436)
current most likely hypothesis: 001_cube with evidence 15.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -9.08043960650436)
current most likely hypothesis: 001_cube with evidence 17.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -10.08043960650436)
current most likely hypothesis: 001_cube with evidence 18.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -11.08043960650436)
current most likely hypothesis: 001_cube with evidence 20.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-2.60208521e-18  1.48046715e+00  0.00000000e+00]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -12.08043960650436)
current most likely hypothesis: 001_cube with evidence 21.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-1.73472348e-18  1.48105510e+00  0.00000000e+00]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -13.08043960650436)
current most likely hypothesis: 001_cube with evidence 23.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-8.67361738e-19  1.48104976e+00  0.00000000e+00]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -14.08043960650436)
current most likely hypothesis: 001_cube with evidence 24.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-1.73472348e-18  1.48045023e+00  0.00000000e+00]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -15.08043960650436)
current most likely hypothesis: 001_cube with evidence 26.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-1.73472348e-18  1.49354113e+00  0.00000000e+00]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2920 out of 2920 hypotheses for 001_cube (evidence > -16.08043960650436)
current most likely hypothesis: 001_cube with evidence 27.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-1.73472348e-18  1.50622698e+00  0.00000000e+00]
added symmetry evidence
Symmetry detected for hypotheses [ 96 171 271 314]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.019 1.506 0.05 ], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 98 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 451 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 4 to 5 of 14
New primary target: {'euler_rotation': [90, 180, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 4.32978028e-17,  4.32978028e-17,  7.07106781e-01, -7.07106781e-01]),
 'rotation': (4.329780281177467e-17,
              4.329780281177466e-17,
              0.7071067811865476,
              -0.7071067811865475),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 5
resetting RNG to seed 1953320932
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > 0.8941819009552312)
current most likely hypothesis: 001_cube with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -0.1058180990447688)
current most likely hypothesis: 001_cube with evidence 3.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -1.1058180990447688)
current most likely hypothesis: 001_cube with evidence 5.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -2.105818099044769)
current most likely hypothesis: 001_cube with evidence 6.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -3.105818099044769)
current most likely hypothesis: 001_cube with evidence 8.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -4.105818099044769)
current most likely hypothesis: 001_cube with evidence 9.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -5.105818099044769)
current most likely hypothesis: 001_cube with evidence 11.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -6.105818099044769)
current most likely hypothesis: 001_cube with evidence 12.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -7.105818099044769)
current most likely hypothesis: 001_cube with evidence 14.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -8.105818099044768)
current most likely hypothesis: 001_cube with evidence 15.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -9.105818099044768)
current most likely hypothesis: 001_cube with evidence 17.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -10.105818099044768)
current most likely hypothesis: 001_cube with evidence 18.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -11.105818099044768)
current most likely hypothesis: 001_cube with evidence 20.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.00372663  1.49437371  0.00390657]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -12.105818099044768)
current most likely hypothesis: 001_cube with evidence 21.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-1.20164749e-03  1.49484413e+00  3.78897800e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -13.105818099044768)
current most likely hypothesis: 001_cube with evidence 23.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [1.24802584e-03 1.49483993e+00 3.79004836e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -14.105818099044768)
current most likely hypothesis: 001_cube with evidence 24.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [0.00377591 1.49436038 0.00390995]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -15.105818099044768)
current most likely hypothesis: 001_cube with evidence 25.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [3.77517663e-03 1.50483302e+00 1.29177455e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3608 out of 3608 hypotheses for 001_cube (evidence > -16.105818099044768)
current most likely hypothesis: 001_cube with evidence 27.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [ 3.77518706e-03  1.51498164e+00 -1.24539532e-03]
added symmetry evidence
Symmetry detected for hypotheses [129 167 210 211 346]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.019  1.506 -0.05 ], rotation [180.   0. 180.], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 98 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 537 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 5 to 6 of 14
New primary target: {'euler_rotation': [35, 45, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957,  0.27781593,  0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              0.27781593346944056,
              0.36497167621709875,
              -0.11507512748638375),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 6
resetting RNG to seed 2492039860
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > 0.8773123071367774)
current most likely hypothesis: 001_cube with evidence 1.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -0.12268769286322256)
current most likely hypothesis: 001_cube with evidence 0.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -1.1226876928632226)
current most likely hypothesis: 001_cube with evidence 0.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -2.122687692863223)
current most likely hypothesis: 001_cube with evidence 1.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -3.122687692863223)
current most likely hypothesis: 001_cube with evidence 3.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -4.122687692863223)
current most likely hypothesis: 001_cube with evidence 2.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -5.122687692863223)
current most likely hypothesis: 001_cube with evidence 1.31
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -6.122687692863223)
current most likely hypothesis: 001_cube with evidence 0.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4296 out of 4296 hypotheses for 001_cube (evidence > -7.122687692863223)
current most likely hypothesis: 001_cube with evidence -0.69
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Going into exploratory mode after 10 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 115 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 650 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 6 to 7 of 14
New primary target: {'euler_rotation': [325, 45, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957,  0.27781593, -0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              0.2778159334694408,
              -0.3649716762170987,
              -0.11507512748638384),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 7
resetting RNG to seed 2201955992
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > 0.47849563594605654)
current most likely hypothesis: 001_cube with evidence 2.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -0.5215043640539434)
current most likely hypothesis: 001_cube with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -1.5215043640539434)
current most likely hypothesis: 001_cube with evidence 2.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -2.5215043640539436)
current most likely hypothesis: 001_cube with evidence 1.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -3.5215043640539436)
current most likely hypothesis: 001_cube with evidence 2.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -4.521504364053944)
current most likely hypothesis: 001_cube with evidence 4.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -5.521504364053944)
current most likely hypothesis: 001_cube with evidence 3.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -6.521504364053944)
current most likely hypothesis: 001_cube with evidence 2.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -7.521504364053944)
current most likely hypothesis: 001_cube with evidence 1.21
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -8.521504364053943)
current most likely hypothesis: 001_cube with evidence 0.21
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5200 out of 5200 hypotheses for 001_cube (evidence > -9.521504364053943)
current most likely hypothesis: 001_cube with evidence -0.79
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Going into exploratory mode after 12 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 115 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 761 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 7 to 8 of 14
New primary target: {'euler_rotation': [35, 315, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957, -0.27781593,  0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              -0.27781593346944056,
              0.36497167621709886,
              -0.11507512748638378),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 8
resetting RNG to seed 306583017
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > 0.4285602693278537)
current most likely hypothesis: 001_cube with evidence 2.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -0.5714397306721464)
current most likely hypothesis: 001_cube with evidence 3.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -1.5714397306721464)
current most likely hypothesis: 001_cube with evidence 4.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -2.5714397306721466)
current most likely hypothesis: 001_cube with evidence 6.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -3.5714397306721466)
current most likely hypothesis: 001_cube with evidence 7.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -4.571439730672147)
current most likely hypothesis: 001_cube with evidence 8.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -5.571439730672147)
current most likely hypothesis: 001_cube with evidence 8.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -6.571439730672147)
current most likely hypothesis: 001_cube with evidence 7.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -7.571439730672147)
current most likely hypothesis: 001_cube with evidence 8.94
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -8.571439730672147)
current most likely hypothesis: 001_cube with evidence 10.12
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -9.571439730672147)
current most likely hypothesis: 001_cube with evidence 11.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -10.571439730672147)
current most likely hypothesis: 001_cube with evidence 13.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -11.571439730672147)
current most likely hypothesis: 001_cube with evidence 14.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -12.571439730672147)
current most likely hypothesis: 001_cube with evidence 15.61
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -13.571439730672147)
current most likely hypothesis: 001_cube with evidence 16.65
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -14.571439730672147)
current most likely hypothesis: 001_cube with evidence 17.57
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -15.571439730672147)
current most likely hypothesis: 001_cube with evidence 16.57
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -16.571439730672147)
current most likely hypothesis: 001_cube with evidence 15.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -17.571439730672147)
current most likely hypothesis: 001_cube with evidence 14.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -18.571439730672147)
current most likely hypothesis: 001_cube with evidence 13.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -19.571439730672147)
current most likely hypothesis: 001_cube with evidence 13.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -20.571439730672147)
current most likely hypothesis: 001_cube with evidence 14.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -21.571439730672147)
current most likely hypothesis: 001_cube with evidence 16.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -22.571439730672147)
current most likely hypothesis: 001_cube with evidence 15.42
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -23.571439730672147)
current most likely hypothesis: 001_cube with evidence 14.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -24.571439730672147)
current most likely hypothesis: 001_cube with evidence 13.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -25.571439730672147)
current most likely hypothesis: 001_cube with evidence 12.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -26.571439730672147)
current most likely hypothesis: 001_cube with evidence 13.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -27.571439730672147)
current most likely hypothesis: 001_cube with evidence 15.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -28.571439730672147)
current most likely hypothesis: 001_cube with evidence 16.37
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -29.571439730672147)
current most likely hypothesis: 001_cube with evidence 17.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -30.571439730672147)
current most likely hypothesis: 001_cube with evidence 17.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -31.571439730672147)
current most likely hypothesis: 001_cube with evidence 16.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -32.57143973067215)
current most likely hypothesis: 001_cube with evidence 15.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -33.57143973067215)
current most likely hypothesis: 001_cube with evidence 14.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -34.57143973067215)
current most likely hypothesis: 001_cube with evidence 13.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -35.57143973067215)
current most likely hypothesis: 001_cube with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -36.57143973067215)
current most likely hypothesis: 001_cube with evidence 11.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -37.57143973067215)
current most likely hypothesis: 001_cube with evidence 10.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -38.57143973067215)
current most likely hypothesis: 001_cube with evidence 9.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -39.57143973067215)
current most likely hypothesis: 001_cube with evidence 10.41
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -40.57143973067215)
current most likely hypothesis: 001_cube with evidence 11.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -41.57143973067215)
current most likely hypothesis: 001_cube with evidence 10.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -42.57143973067215)
current most likely hypothesis: 001_cube with evidence 9.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -43.57143973067215)
current most likely hypothesis: 001_cube with evidence 8.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -44.57143973067215)
current most likely hypothesis: 001_cube with evidence 7.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -45.57143973067215)
current most likely hypothesis: 001_cube with evidence 6.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -46.57143973067215)
current most likely hypothesis: 001_cube with evidence 5.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -47.57143973067215)
current most likely hypothesis: 001_cube with evidence 4.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -48.57143973067215)
current most likely hypothesis: 001_cube with evidence 3.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -49.57143973067215)
current most likely hypothesis: 001_cube with evidence 5.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -50.57143973067215)
current most likely hypothesis: 001_cube with evidence 4.04
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -51.57143973067215)
current most likely hypothesis: 001_cube with evidence 4.77
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -52.57143973067215)
current most likely hypothesis: 001_cube with evidence 3.77
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -53.57143973067215)
current most likely hypothesis: 001_cube with evidence 2.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -54.57143973067215)
current most likely hypothesis: 001_cube with evidence 1.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -55.57143973067215)
current most likely hypothesis: 001_cube with evidence 0.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6088 out of 6088 hypotheses for 001_cube (evidence > -56.57143973067215)
current most likely hypothesis: 001_cube with evidence -0.23
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Going into exploratory mode after 60 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 870 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 8 to 9 of 14
New primary target: {'euler_rotation': [325, 315, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957, -0.27781593, -0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              -0.2778159334694408,
              -0.3649716762170988,
              -0.11507512748638386),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 9
resetting RNG to seed 583356519
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > 0.401986335366196)
current most likely hypothesis: 001_cube with evidence 2.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -0.598013664633804)
current most likely hypothesis: 001_cube with evidence 3.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -1.598013664633804)
current most likely hypothesis: 001_cube with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -2.598013664633804)
current most likely hypothesis: 001_cube with evidence 6.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -3.598013664633804)
current most likely hypothesis: 001_cube with evidence 7.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -4.598013664633804)
current most likely hypothesis: 001_cube with evidence 6.28
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -5.598013664633804)
current most likely hypothesis: 001_cube with evidence 6.88
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -6.598013664633804)
current most likely hypothesis: 001_cube with evidence 7.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -7.598013664633804)
current most likely hypothesis: 001_cube with evidence 9.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -8.598013664633804)
current most likely hypothesis: 001_cube with evidence 10.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -9.598013664633804)
current most likely hypothesis: 001_cube with evidence 11.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -10.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -11.598013664633804)
current most likely hypothesis: 001_cube with evidence 14.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -12.598013664633804)
current most likely hypothesis: 001_cube with evidence 15.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -13.598013664633804)
current most likely hypothesis: 001_cube with evidence 16.16
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -14.598013664633804)
current most likely hypothesis: 001_cube with evidence 15.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -15.598013664633804)
current most likely hypothesis: 001_cube with evidence 14.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -16.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -17.598013664633804)
current most likely hypothesis: 001_cube with evidence 12.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -18.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.09
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -19.598013664633804)
current most likely hypothesis: 001_cube with evidence 14.15
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -20.598013664633804)
current most likely hypothesis: 001_cube with evidence 15.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -21.598013664633804)
current most likely hypothesis: 001_cube with evidence 16.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -22.598013664633804)
current most likely hypothesis: 001_cube with evidence 18.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -23.598013664633804)
current most likely hypothesis: 001_cube with evidence 17.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -24.598013664633804)
current most likely hypothesis: 001_cube with evidence 16.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -25.598013664633804)
current most likely hypothesis: 001_cube with evidence 15.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -26.598013664633804)
current most likely hypothesis: 001_cube with evidence 16.41
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -27.598013664633804)
current most likely hypothesis: 001_cube with evidence 17.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -28.598013664633804)
current most likely hypothesis: 001_cube with evidence 16.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -29.598013664633804)
current most likely hypothesis: 001_cube with evidence 15.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -30.598013664633804)
current most likely hypothesis: 001_cube with evidence 14.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -31.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -32.598013664633804)
current most likely hypothesis: 001_cube with evidence 12.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -33.598013664633804)
current most likely hypothesis: 001_cube with evidence 11.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -34.598013664633804)
current most likely hypothesis: 001_cube with evidence 10.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -35.598013664633804)
current most likely hypothesis: 001_cube with evidence 9.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -36.598013664633804)
current most likely hypothesis: 001_cube with evidence 9.48
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -37.598013664633804)
current most likely hypothesis: 001_cube with evidence 10.53
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -38.598013664633804)
current most likely hypothesis: 001_cube with evidence 11.64
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -39.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -40.598013664633804)
current most likely hypothesis: 001_cube with evidence 14.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -41.598013664633804)
current most likely hypothesis: 001_cube with evidence 13.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -42.598013664633804)
current most likely hypothesis: 001_cube with evidence 12.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -43.598013664633804)
current most likely hypothesis: 001_cube with evidence 11.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -44.598013664633804)
current most likely hypothesis: 001_cube with evidence 10.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -45.598013664633804)
current most likely hypothesis: 001_cube with evidence 9.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -46.598013664633804)
current most likely hypothesis: 001_cube with evidence 8.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -47.598013664633804)
current most likely hypothesis: 001_cube with evidence 7.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -48.598013664633804)
current most likely hypothesis: 001_cube with evidence 6.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -49.598013664633804)
current most likely hypothesis: 001_cube with evidence 7.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -50.598013664633804)
current most likely hypothesis: 001_cube with evidence 6.52
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -51.598013664633804)
current most likely hypothesis: 001_cube with evidence 5.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -52.598013664633804)
current most likely hypothesis: 001_cube with evidence 4.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -53.598013664633804)
current most likely hypothesis: 001_cube with evidence 3.52
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -54.598013664633804)
current most likely hypothesis: 001_cube with evidence 2.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -55.598013664633804)
current most likely hypothesis: 001_cube with evidence 1.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -56.598013664633804)
current most likely hypothesis: 001_cube with evidence 0.52
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6960 out of 6960 hypotheses for 001_cube (evidence > -57.598013664633804)
current most likely hypothesis: 001_cube with evidence -0.48
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Going into exploratory mode after 64 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 978 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 9 to 10 of 14
New primary target: {'euler_rotation': [35, 135, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168,  0.11507513,  0.88111957, -0.27781593]),
 'rotation': (0.3649716762170988,
              0.11507512748638377,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 10
resetting RNG to seed 1177517334
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > 0.43228936566922666)
current most likely hypothesis: 001_cube with evidence 2.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -0.5677106343307734)
current most likely hypothesis: 001_cube with evidence 4.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -1.5677106343307734)
current most likely hypothesis: 001_cube with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -2.5677106343307736)
current most likely hypothesis: 001_cube with evidence 6.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -3.5677106343307736)
current most likely hypothesis: 001_cube with evidence 7.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -4.567710634330774)
current most likely hypothesis: 001_cube with evidence 6.34
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -5.567710634330774)
current most likely hypothesis: 001_cube with evidence 6.94
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -6.567710634330774)
current most likely hypothesis: 001_cube with evidence 8.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -7.567710634330774)
current most likely hypothesis: 001_cube with evidence 9.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -8.567710634330773)
current most likely hypothesis: 001_cube with evidence 11.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -9.567710634330773)
current most likely hypothesis: 001_cube with evidence 11.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -10.567710634330773)
current most likely hypothesis: 001_cube with evidence 13.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -11.567710634330773)
current most likely hypothesis: 001_cube with evidence 14.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -12.567710634330773)
current most likely hypothesis: 001_cube with evidence 15.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -13.567710634330773)
current most likely hypothesis: 001_cube with evidence 16.31
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -14.567710634330773)
current most likely hypothesis: 001_cube with evidence 15.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -15.567710634330773)
current most likely hypothesis: 001_cube with evidence 14.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -16.567710634330773)
current most likely hypothesis: 001_cube with evidence 13.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -17.567710634330773)
current most likely hypothesis: 001_cube with evidence 12.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -18.567710634330773)
current most likely hypothesis: 001_cube with evidence 13.21
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -19.567710634330773)
current most likely hypothesis: 001_cube with evidence 14.22
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -20.567710634330773)
current most likely hypothesis: 001_cube with evidence 15.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -21.567710634330773)
current most likely hypothesis: 001_cube with evidence 16.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -22.567710634330773)
current most likely hypothesis: 001_cube with evidence 18.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -23.567710634330773)
current most likely hypothesis: 001_cube with evidence 17.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -24.567710634330773)
current most likely hypothesis: 001_cube with evidence 16.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -25.567710634330773)
current most likely hypothesis: 001_cube with evidence 15.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -26.567710634330773)
current most likely hypothesis: 001_cube with evidence 16.42
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -27.567710634330773)
current most likely hypothesis: 001_cube with evidence 17.16
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -28.567710634330773)
current most likely hypothesis: 001_cube with evidence 16.16
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -29.567710634330773)
current most likely hypothesis: 001_cube with evidence 15.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -30.567710634330773)
current most likely hypothesis: 001_cube with evidence 14.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -31.567710634330773)
current most likely hypothesis: 001_cube with evidence 13.16
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -32.56771063433077)
current most likely hypothesis: 001_cube with evidence 12.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -33.56771063433077)
current most likely hypothesis: 001_cube with evidence 11.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -34.56771063433077)
current most likely hypothesis: 001_cube with evidence 10.16
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -35.56771063433077)
current most likely hypothesis: 001_cube with evidence 9.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -36.56771063433077)
current most likely hypothesis: 001_cube with evidence 9.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -37.56771063433077)
current most likely hypothesis: 001_cube with evidence 10.49
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -38.56771063433077)
current most likely hypothesis: 001_cube with evidence 11.58
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -39.56771063433077)
current most likely hypothesis: 001_cube with evidence 13.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -40.56771063433077)
current most likely hypothesis: 001_cube with evidence 14.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -41.56771063433077)
current most likely hypothesis: 001_cube with evidence 13.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -42.56771063433077)
current most likely hypothesis: 001_cube with evidence 12.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -43.56771063433077)
current most likely hypothesis: 001_cube with evidence 11.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -44.56771063433077)
current most likely hypothesis: 001_cube with evidence 10.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -45.56771063433077)
current most likely hypothesis: 001_cube with evidence 9.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -46.56771063433077)
current most likely hypothesis: 001_cube with evidence 8.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -47.56771063433077)
current most likely hypothesis: 001_cube with evidence 7.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -48.56771063433077)
current most likely hypothesis: 001_cube with evidence 6.43
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -49.56771063433077)
current most likely hypothesis: 001_cube with evidence 7.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -50.56771063433077)
current most likely hypothesis: 001_cube with evidence 6.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -51.56771063433077)
current most likely hypothesis: 001_cube with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -52.56771063433077)
current most likely hypothesis: 001_cube with evidence 4.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -53.56771063433077)
current most likely hypothesis: 001_cube with evidence 3.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -54.56771063433077)
current most likely hypothesis: 001_cube with evidence 2.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -55.56771063433077)
current most likely hypothesis: 001_cube with evidence 1.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -56.56771063433077)
current most likely hypothesis: 001_cube with evidence 0.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7824 out of 7824 hypotheses for 001_cube (evidence > -57.56771063433077)
current most likely hypothesis: 001_cube with evidence -0.62
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Going into exploratory mode after 64 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1088 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 10 to 11 of 14
New primary target: {'euler_rotation': [325, 135, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168,  0.11507513, -0.88111957, -0.27781593]),
 'rotation': (-0.36497167621709875,
              0.11507512748638385,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 11
resetting RNG to seed 111915506
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > 0.4406098695208076)
current most likely hypothesis: 001_cube with evidence 2.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -0.5593901304791924)
current most likely hypothesis: 001_cube with evidence 3.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -1.5593901304791924)
current most likely hypothesis: 001_cube with evidence 4.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -2.5593901304791924)
current most likely hypothesis: 001_cube with evidence 6.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -3.5593901304791924)
current most likely hypothesis: 001_cube with evidence 7.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -4.559390130479192)
current most likely hypothesis: 001_cube with evidence 8.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -5.559390130479192)
current most likely hypothesis: 001_cube with evidence 9.01
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -6.559390130479192)
current most likely hypothesis: 001_cube with evidence 8.01
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -7.559390130479192)
current most likely hypothesis: 001_cube with evidence 9.01
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -8.559390130479192)
current most likely hypothesis: 001_cube with evidence 10.2
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -9.559390130479192)
current most likely hypothesis: 001_cube with evidence 11.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -10.559390130479192)
current most likely hypothesis: 001_cube with evidence 13.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -11.559390130479192)
current most likely hypothesis: 001_cube with evidence 14.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -12.559390130479192)
current most likely hypothesis: 001_cube with evidence 15.69
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -13.559390130479192)
current most likely hypothesis: 001_cube with evidence 16.69
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -14.559390130479192)
current most likely hypothesis: 001_cube with evidence 17.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -15.559390130479192)
current most likely hypothesis: 001_cube with evidence 16.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -16.559390130479194)
current most likely hypothesis: 001_cube with evidence 15.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -17.559390130479194)
current most likely hypothesis: 001_cube with evidence 14.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -18.559390130479194)
current most likely hypothesis: 001_cube with evidence 13.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -19.559390130479194)
current most likely hypothesis: 001_cube with evidence 13.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -20.559390130479194)
current most likely hypothesis: 001_cube with evidence 14.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -21.559390130479194)
current most likely hypothesis: 001_cube with evidence 16.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -22.559390130479194)
current most likely hypothesis: 001_cube with evidence 15.4
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -23.559390130479194)
current most likely hypothesis: 001_cube with evidence 14.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -24.559390130479194)
current most likely hypothesis: 001_cube with evidence 13.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -25.559390130479194)
current most likely hypothesis: 001_cube with evidence 12.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -26.559390130479194)
current most likely hypothesis: 001_cube with evidence 13.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -27.559390130479194)
current most likely hypothesis: 001_cube with evidence 15.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -28.559390130479194)
current most likely hypothesis: 001_cube with evidence 16.39
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -29.559390130479194)
current most likely hypothesis: 001_cube with evidence 17.4
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -30.559390130479194)
current most likely hypothesis: 001_cube with evidence 17.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -31.559390130479194)
current most likely hypothesis: 001_cube with evidence 16.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -32.559390130479194)
current most likely hypothesis: 001_cube with evidence 15.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -33.559390130479194)
current most likely hypothesis: 001_cube with evidence 14.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -34.559390130479194)
current most likely hypothesis: 001_cube with evidence 13.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -35.559390130479194)
current most likely hypothesis: 001_cube with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -36.559390130479194)
current most likely hypothesis: 001_cube with evidence 11.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -37.559390130479194)
current most likely hypothesis: 001_cube with evidence 10.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -38.559390130479194)
current most likely hypothesis: 001_cube with evidence 9.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -39.559390130479194)
current most likely hypothesis: 001_cube with evidence 10.39
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -40.559390130479194)
current most likely hypothesis: 001_cube with evidence 11.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -41.559390130479194)
current most likely hypothesis: 001_cube with evidence 10.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -42.559390130479194)
current most likely hypothesis: 001_cube with evidence 9.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -43.559390130479194)
current most likely hypothesis: 001_cube with evidence 8.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -44.559390130479194)
current most likely hypothesis: 001_cube with evidence 7.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -45.559390130479194)
current most likely hypothesis: 001_cube with evidence 6.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -46.559390130479194)
current most likely hypothesis: 001_cube with evidence 5.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -47.559390130479194)
current most likely hypothesis: 001_cube with evidence 4.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -48.559390130479194)
current most likely hypothesis: 001_cube with evidence 3.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -49.559390130479194)
current most likely hypothesis: 001_cube with evidence 4.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -50.559390130479194)
current most likely hypothesis: 001_cube with evidence 3.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -51.559390130479194)
current most likely hypothesis: 001_cube with evidence 4.7
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -52.559390130479194)
current most likely hypothesis: 001_cube with evidence 3.7
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -53.559390130479194)
current most likely hypothesis: 001_cube with evidence 2.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -54.559390130479194)
current most likely hypothesis: 001_cube with evidence 1.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -55.559390130479194)
current most likely hypothesis: 001_cube with evidence 0.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8704 out of 8704 hypotheses for 001_cube (evidence > -56.559390130479194)
current most likely hypothesis: 001_cube with evidence -0.3
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Going into exploratory mode after 60 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1193 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 11 to 12 of 14
New primary target: {'euler_rotation': [35, 225, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168, -0.11507513,  0.88111957, -0.27781593]),
 'rotation': (-0.3649716762170987,
              -0.11507512748638374,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 12
resetting RNG to seed 1538901097
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > 0.46810631634161054)
current most likely hypothesis: 001_cube with evidence 2.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -0.5318936836583894)
current most likely hypothesis: 001_cube with evidence 4.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -1.5318936836583894)
current most likely hypothesis: 001_cube with evidence 6.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -2.5318936836583896)
current most likely hypothesis: 001_cube with evidence 5.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -3.5318936836583896)
current most likely hypothesis: 001_cube with evidence 7.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -4.53189368365839)
current most likely hypothesis: 001_cube with evidence 8.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -5.53189368365839)
current most likely hypothesis: 001_cube with evidence 9.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -6.53189368365839)
current most likely hypothesis: 001_cube with evidence 10.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -7.53189368365839)
current most likely hypothesis: 001_cube with evidence 11.46
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -8.531893683658389)
current most likely hypothesis: 001_cube with evidence 10.46
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -9.531893683658389)
current most likely hypothesis: 001_cube with evidence 9.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -10.531893683658389)
current most likely hypothesis: 001_cube with evidence 9.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -11.531893683658389)
current most likely hypothesis: 001_cube with evidence 10.94
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -12.531893683658389)
current most likely hypothesis: 001_cube with evidence 12.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -13.531893683658389)
current most likely hypothesis: 001_cube with evidence 11.43
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -14.531893683658389)
current most likely hypothesis: 001_cube with evidence 10.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -15.531893683658389)
current most likely hypothesis: 001_cube with evidence 9.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -16.53189368365839)
current most likely hypothesis: 001_cube with evidence 10.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -17.53189368365839)
current most likely hypothesis: 001_cube with evidence 12.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -18.53189368365839)
current most likely hypothesis: 001_cube with evidence 13.45
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -19.53189368365839)
current most likely hypothesis: 001_cube with evidence 14.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -20.53189368365839)
current most likely hypothesis: 001_cube with evidence 13.38
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -21.53189368365839)
current most likely hypothesis: 001_cube with evidence 12.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -22.53189368365839)
current most likely hypothesis: 001_cube with evidence 11.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -23.53189368365839)
current most likely hypothesis: 001_cube with evidence 10.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -24.53189368365839)
current most likely hypothesis: 001_cube with evidence 9.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -25.53189368365839)
current most likely hypothesis: 001_cube with evidence 8.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -26.53189368365839)
current most likely hypothesis: 001_cube with evidence 9.1
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -27.53189368365839)
current most likely hypothesis: 001_cube with evidence 10.32
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -28.53189368365839)
current most likely hypothesis: 001_cube with evidence 9.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -29.53189368365839)
current most likely hypothesis: 001_cube with evidence 8.32
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -30.53189368365839)
current most likely hypothesis: 001_cube with evidence 7.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -31.53189368365839)
current most likely hypothesis: 001_cube with evidence 6.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -32.53189368365839)
current most likely hypothesis: 001_cube with evidence 5.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -33.53189368365839)
current most likely hypothesis: 001_cube with evidence 4.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -34.53189368365839)
current most likely hypothesis: 001_cube with evidence 3.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -35.53189368365839)
current most likely hypothesis: 001_cube with evidence 4.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -36.53189368365839)
current most likely hypothesis: 001_cube with evidence 6.23
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -37.53189368365839)
current most likely hypothesis: 001_cube with evidence 7.34
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -38.53189368365839)
current most likely hypothesis: 001_cube with evidence 8.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -39.53189368365839)
current most likely hypothesis: 001_cube with evidence 8.71
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -40.53189368365839)
current most likely hypothesis: 001_cube with evidence 7.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -41.53189368365839)
current most likely hypothesis: 001_cube with evidence 6.71
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -42.53189368365839)
current most likely hypothesis: 001_cube with evidence 5.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -43.53189368365839)
current most likely hypothesis: 001_cube with evidence 4.71
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -44.53189368365839)
current most likely hypothesis: 001_cube with evidence 3.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -45.53189368365839)
current most likely hypothesis: 001_cube with evidence 2.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -46.53189368365839)
current most likely hypothesis: 001_cube with evidence 1.71
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -47.53189368365839)
current most likely hypothesis: 001_cube with evidence 0.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -48.53189368365839)
current most likely hypothesis: 001_cube with evidence 1.63
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -49.53189368365839)
current most likely hypothesis: 001_cube with evidence 0.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 9544 out of 9544 hypotheses for 001_cube (evidence > -50.53189368365839)
current most likely hypothesis: 001_cube with evidence -0.37
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Going into exploratory mode after 54 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1304 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 12 to 13 of 14
New primary target: {'euler_rotation': [325, 225, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168, -0.11507513, -0.88111957, -0.27781593]),
 'rotation': (0.3649716762170987,
              -0.11507512748638382,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 001_cube
running train epoch 0 train episode 13
resetting RNG to seed 678633877
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > 0.4622443405092584)
current most likely hypothesis: 001_cube with evidence 2.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -0.5377556594907416)
current most likely hypothesis: 001_cube with evidence 4.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -1.5377556594907416)
current most likely hypothesis: 001_cube with evidence 5.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -2.5377556594907418)
current most likely hypothesis: 001_cube with evidence 7.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -3.5377556594907418)
current most likely hypothesis: 001_cube with evidence 8.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -4.537755659490742)
current most likely hypothesis: 001_cube with evidence 10.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -5.537755659490742)
current most likely hypothesis: 001_cube with evidence 12.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -6.537755659490742)
current most likely hypothesis: 001_cube with evidence 12.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -7.537755659490742)
current most likely hypothesis: 001_cube with evidence 14.84
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -8.537755659490742)
current most likely hypothesis: 001_cube with evidence 16.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -9.537755659490742)
current most likely hypothesis: 001_cube with evidence 18.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -10.537755659490742)
current most likely hypothesis: 001_cube with evidence 17.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -11.537755659490742)
current most likely hypothesis: 001_cube with evidence 16.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -12.537755659490742)
current most likely hypothesis: 001_cube with evidence 15.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -13.537755659490742)
current most likely hypothesis: 001_cube with evidence 14.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -14.537755659490742)
current most likely hypothesis: 001_cube with evidence 13.19
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -15.537755659490742)
current most likely hypothesis: 001_cube with evidence 15.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -16.537755659490742)
current most likely hypothesis: 001_cube with evidence 16.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -17.537755659490742)
current most likely hypothesis: 001_cube with evidence 15.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -18.537755659490742)
current most likely hypothesis: 001_cube with evidence 14.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -19.537755659490742)
current most likely hypothesis: 001_cube with evidence 13.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -20.537755659490742)
current most likely hypothesis: 001_cube with evidence 15.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -21.537755659490742)
current most likely hypothesis: 001_cube with evidence 14.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -22.537755659490742)
current most likely hypothesis: 001_cube with evidence 13.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -23.537755659490742)
current most likely hypothesis: 001_cube with evidence 12.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -24.537755659490742)
current most likely hypothesis: 001_cube with evidence 14.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -25.537755659490742)
current most likely hypothesis: 001_cube with evidence 13.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -26.537755659490742)
current most likely hypothesis: 001_cube with evidence 12.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -27.537755659490742)
current most likely hypothesis: 001_cube with evidence 11.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -28.537755659490742)
current most likely hypothesis: 001_cube with evidence 10.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -29.537755659490742)
current most likely hypothesis: 001_cube with evidence 9.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -30.537755659490742)
current most likely hypothesis: 001_cube with evidence 8.17
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -31.537755659490742)
current most likely hypothesis: 001_cube with evidence 7.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -32.53775565949074)
current most likely hypothesis: 001_cube with evidence 8.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -33.53775565949074)
current most likely hypothesis: 001_cube with evidence 9.05
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -34.53775565949074)
current most likely hypothesis: 001_cube with evidence 8.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -35.53775565949074)
current most likely hypothesis: 001_cube with evidence 7.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -36.53775565949074)
current most likely hypothesis: 001_cube with evidence 6.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -37.53775565949074)
current most likely hypothesis: 001_cube with evidence 5.05
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -38.53775565949074)
current most likely hypothesis: 001_cube with evidence 4.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -39.53775565949074)
current most likely hypothesis: 001_cube with evidence 3.05
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -40.53775565949074)
current most likely hypothesis: 001_cube with evidence 2.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -41.53775565949074)
current most likely hypothesis: 001_cube with evidence 1.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -42.53775565949074)
current most likely hypothesis: 001_cube with evidence 2.07
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -43.53775565949074)
current most likely hypothesis: 001_cube with evidence 3.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -44.53775565949074)
current most likely hypothesis: 001_cube with evidence 2.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -45.53775565949074)
current most likely hypothesis: 001_cube with evidence 3.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -46.53775565949074)
current most likely hypothesis: 001_cube with evidence 2.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -47.53775565949074)
current most likely hypothesis: 001_cube with evidence 1.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -48.53775565949074)
current most likely hypothesis: 001_cube with evidence 0.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 10432 out of 10432 hypotheses for 001_cube (evidence > -49.53775565949074)
current most likely hypothesis: 001_cube with evidence -0.35
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Going into exploratory mode after 55 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 114 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1411 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 13 to 0 of 14
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '001_cube',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
saving model to /home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_001_cube/pretrained
logger initialized
{'do_eval': False, 'do_train': True, 'monty_config': {'monty_class': <class 'tbp.monty.frameworks.models.evidence_matching.model.MontyForEvidenceGraphMatching'>, 'monty_args': {'num_exploratory_steps': 1000, 'min_eval_steps': 3, 'min_train_steps': 3, 'max_total_steps': 2500}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x77389813d7f0>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x77389813db50>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x773896b8d580>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x773896b96a00>, 'sensor_module_1': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x773896bb0d30>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x773896bb9550>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1]], 'lm_to_lm_matrix': [[], [0]], 'lm_to_lm_vote_matrix': None}, 'environment': {'env_init_args': {'objects': [{'name': 'coneSolid', 'position': [0.0, 1.5, -0.1]}], 'scene_id': None, 'seed': 42, 'data_path': '/home/hlee/tbp/data/habitat/objects/compositional_objects', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [64, 64], [64, 64]], 'positions': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rotations': [[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False], 'zooms': [10.0, 5.0, 1.0]}, 'agent_type': <class 'tbp.monty.simulators.habitat.agents.MultiSensorAgent'>}}, 'env_init_func': <class 'tbp.monty.simulators.habitat.environment.HabitatEnvironment'>, 'transform': [<tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x773896aba790>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x773896aba7f0>]}, 'train_env_interface_args': {'parent_to_child_mapping': None, 'object_names': ['006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk', '006_disk'], 'object_init_sampler': <tbp.monty.frameworks.environments.object_init_samplers.Predefined object at 0x773896a4da60>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x773896a64f40>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x773896a64e80>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'logging': {'monty_log_level': 'SILENT', 'monty_handlers': [], 'wandb_handlers': [], 'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_006_disk/pretrained'), 'resume_wandb_run': False, 'wandb_id': 'ra0zbayo', 'wandb_group': '20260630_compositional_configs', 'run_name': 'supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_006_disk', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'max_train_steps': 1000, 'max_eval_steps': 500, 'max_total_steps': 6000, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', 'min_lms_match': 1, 'seed': 42, 'supervised_lm_ids': ['learning_module_0']}
running train epoch 0
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 0
resetting RNG to seed 1060955053
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
006_disk not in memory ([])
Adding a new graph to memory.
init object model with id 006_disk
building graph from 99 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7738959800a0>
Added new graph with id 006_disk to memory.
Model for 006_disk:
   Contains 99 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 0 to 1 of 14
New primary target: {'euler_rotation': [0, 90, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.        , 0.70710678, 0.        ]),
 'rotation': (0.7071067811865476, 0.0, 0.7071067811865475, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 1
resetting RNG to seed 1260428609
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 198 out of 198 hypotheses for 006_disk (evidence > 0.7397193076247877)
current most likely hypothesis: 006_disk with evidence -0.21
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Going into exploratory mode after 2 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 15 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 114 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 1 to 2 of 14
New primary target: {'euler_rotation': [0, 180, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([6.123234e-17, 0.000000e+00, 1.000000e+00, 0.000000e+00]),
 'rotation': (6.123233995736766e-17, 0.0, 1.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 2
resetting RNG to seed 3997959863
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > 0.7127693646934686)
current most likely hypothesis: 006_disk with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -0.28723063530653137)
current most likely hypothesis: 006_disk with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -1.2872306353065315)
current most likely hypothesis: 006_disk with evidence 5.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -2.2872306353065315)
current most likely hypothesis: 006_disk with evidence 6.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -3.2872306353065315)
current most likely hypothesis: 006_disk with evidence 8.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -4.287230635306532)
current most likely hypothesis: 006_disk with evidence 9.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -5.287230635306532)
current most likely hypothesis: 006_disk with evidence 11.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -6.287230635306532)
current most likely hypothesis: 006_disk with evidence 12.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -7.287230635306532)
current most likely hypothesis: 006_disk with evidence 14.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -8.287230635306532)
current most likely hypothesis: 006_disk with evidence 15.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -9.287230635306532)
current most likely hypothesis: 006_disk with evidence 17.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -10.287230635306532)
current most likely hypothesis: 006_disk with evidence 18.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 912 out of 912 hypotheses for 006_disk (evidence > -11.287230635306532)
current most likely hypothesis: 006_disk with evidence 20.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.0177015   1.48144379  0.00349995]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.018  1.481  0.003], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 99 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 213 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 2 to 3 of 14
New primary target: {'euler_rotation': [0, 270, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.70710678,  0.        ,  0.70710678,  0.        ]),
 'rotation': (-0.7071067811865475, 0.0, 0.7071067811865476, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 3
resetting RNG to seed 99937259
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > 0.7010352705063347)
current most likely hypothesis: 006_disk with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -0.29896472949366526)
current most likely hypothesis: 006_disk with evidence 4.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -1.2989647294936653)
current most likely hypothesis: 006_disk with evidence 6.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -2.2989647294936653)
current most likely hypothesis: 006_disk with evidence 8.78
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -3.2989647294936653)
current most likely hypothesis: 006_disk with evidence 10.73
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -4.298964729493665)
current most likely hypothesis: 006_disk with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -5.291800846009803)
current most likely hypothesis: 006_disk with evidence 14.69
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -6.291800846009803)
current most likely hypothesis: 006_disk with evidence 16.67
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -7.291800846009803)
current most likely hypothesis: 006_disk with evidence 18.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -8.291800846009803)
current most likely hypothesis: 006_disk with evidence 20.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-5.39102335e-02  1.49996311e+00  3.80954165e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -9.291800846009803)
current most likely hypothesis: 006_disk with evidence 22.57
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-5.25924638e-02  1.49996387e+00  3.80950906e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -10.291800846009803)
current most likely hypothesis: 006_disk with evidence 24.54
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-5.25544524e-02  1.49996389e+00  3.80950812e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -11.291800846009803)
current most likely hypothesis: 006_disk with evidence 26.53
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-5.00071653e-02  1.49996536e+00  3.80944511e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 426 out of 426 hypotheses for 006_disk (evidence > -12.291800846009803)
current most likely hypothesis: 006_disk with evidence 28.51
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-4.98980792e-02  1.49996542e+00  3.80944242e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 15 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 228 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 3 to 4 of 14
New primary target: {'euler_rotation': [90, 0, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.70710678, 0.        , 0.        ]),
 'rotation': (0.7071067811865476, 0.7071067811865475, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 4
resetting RNG to seed 560786102
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > 0.7371028727829365)
current most likely hypothesis: 006_disk with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -0.2628971272170635)
current most likely hypothesis: 006_disk with evidence 4.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -1.2628971272170635)
current most likely hypothesis: 006_disk with evidence 6.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -2.2628971272170633)
current most likely hypothesis: 006_disk with evidence 8.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -3.2628971272170633)
current most likely hypothesis: 006_disk with evidence 10.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -4.262897127217063)
current most likely hypothesis: 006_disk with evidence 12.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -5.262897127217063)
current most likely hypothesis: 006_disk with evidence 14.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -6.262897127217063)
current most likely hypothesis: 006_disk with evidence 16.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -7.262897127217063)
current most likely hypothesis: 006_disk with evidence 18.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -8.262897127217062)
current most likely hypothesis: 006_disk with evidence 20.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-5.39394918e-13  1.49996537e+00 -1.62993894e-10]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 006_disk (evidence > -9.262897127217062)
current most likely hypothesis: 006_disk with evidence 19.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 12 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 240 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 4 to 5 of 14
New primary target: {'euler_rotation': [90, 180, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 4.32978028e-17,  4.32978028e-17,  7.07106781e-01, -7.07106781e-01]),
 'rotation': (4.329780281177467e-17,
              4.329780281177466e-17,
              0.7071067811865476,
              -0.7071067811865475),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 5
resetting RNG to seed 1953320932
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > 0.7343782861518917)
current most likely hypothesis: 006_disk with evidence 2.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -0.2656217138481083)
current most likely hypothesis: 006_disk with evidence 4.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -1.2584578303642457)
current most likely hypothesis: 006_disk with evidence 6.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -2.2584578303642457)
current most likely hypothesis: 006_disk with evidence 8.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -3.2584578303642457)
current most likely hypothesis: 006_disk with evidence 10.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -4.258457830364246)
current most likely hypothesis: 006_disk with evidence 12.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -5.258457830364246)
current most likely hypothesis: 006_disk with evidence 14.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -6.258457830364246)
current most likely hypothesis: 006_disk with evidence 16.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -7.258457830364246)
current most likely hypothesis: 006_disk with evidence 18.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -8.258457830364247)
current most likely hypothesis: 006_disk with evidence 20.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [1.15429058e-05 1.51663779e+00 1.26986625e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 11 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 251 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 5 to 6 of 14
New primary target: {'euler_rotation': [35, 45, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957,  0.27781593,  0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              0.27781593346944056,
              0.36497167621709875,
              -0.11507512748638375),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 6
resetting RNG to seed 2492039860
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.93
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > 0.6355245285696369)
current most likely hypothesis: 006_disk with evidence 2.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > -0.3644754714303631)
current most likely hypothesis: 006_disk with evidence 1.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > -1.364475471430363)
current most likely hypothesis: 006_disk with evidence 2.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > -2.364475471430363)
current most likely hypothesis: 006_disk with evidence 1.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > -3.364475471430363)
current most likely hypothesis: 006_disk with evidence 0.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2008 out of 2008 hypotheses for 006_disk (evidence > -4.364475471430363)
current most likely hypothesis: 006_disk with evidence -0.25
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Going into exploratory mode after 7 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 94 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 344 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 6 to 7 of 14
New primary target: {'euler_rotation': [325, 45, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957,  0.27781593, -0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              0.2778159334694408,
              -0.3649716762170987,
              -0.11507512748638384),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 7
resetting RNG to seed 2201955992
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > 0.47945990146364525)
current most likely hypothesis: 006_disk with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -0.5205400985363547)
current most likely hypothesis: 006_disk with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -1.5205400985363546)
current most likely hypothesis: 006_disk with evidence 2.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -2.5205400985363546)
current most likely hypothesis: 006_disk with evidence 1.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -3.5205400985363546)
current most likely hypothesis: 006_disk with evidence 3.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -4.520540098536355)
current most likely hypothesis: 006_disk with evidence 2.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -5.520540098536355)
current most likely hypothesis: 006_disk with evidence 1.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -6.520540098536355)
current most likely hypothesis: 006_disk with evidence 0.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -7.520540098536355)
current most likely hypothesis: 006_disk with evidence 1.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -8.520540098536355)
current most likely hypothesis: 006_disk with evidence 0.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2752 out of 2752 hypotheses for 006_disk (evidence > -9.520540098536355)
current most likely hypothesis: 006_disk with evidence -0.34
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Going into exploratory mode after 12 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 90 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 432 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 7 to 8 of 14
New primary target: {'euler_rotation': [35, 315, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957, -0.27781593,  0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              -0.27781593346944056,
              0.36497167621709886,
              -0.11507512748638378),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 8
resetting RNG to seed 306583017
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > 0.41826010134920216)
current most likely hypothesis: 006_disk with evidence 2.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -0.5817398986507978)
current most likely hypothesis: 006_disk with evidence 3.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -1.5817398986507978)
current most likely hypothesis: 006_disk with evidence 5.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -2.581739898650798)
current most likely hypothesis: 006_disk with evidence 6.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -3.581739898650798)
current most likely hypothesis: 006_disk with evidence 5.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -4.581739898650798)
current most likely hypothesis: 006_disk with evidence 4.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -5.581739898650798)
current most likely hypothesis: 006_disk with evidence 3.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -6.581739898650798)
current most likely hypothesis: 006_disk with evidence 2.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -7.581739898650798)
current most likely hypothesis: 006_disk with evidence 3.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -8.581739898650799)
current most likely hypothesis: 006_disk with evidence 2.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -9.581739898650799)
current most likely hypothesis: 006_disk with evidence 1.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -10.581739898650799)
current most likely hypothesis: 006_disk with evidence 0.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3456 out of 3456 hypotheses for 006_disk (evidence > -11.581739898650799)
current most likely hypothesis: 006_disk with evidence -0.12
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 93 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 515 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 8 to 9 of 14
New primary target: {'euler_rotation': [325, 315, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957, -0.27781593, -0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              -0.2778159334694408,
              -0.3649716762170988,
              -0.11507512748638386),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 9
resetting RNG to seed 583356519
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > 0.36652830332912856)
current most likely hypothesis: 006_disk with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -0.6334716966708714)
current most likely hypothesis: 006_disk with evidence 3.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -1.6334716966708713)
current most likely hypothesis: 006_disk with evidence 2.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -2.6334716966708713)
current most likely hypothesis: 006_disk with evidence 4.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -3.6334716966708713)
current most likely hypothesis: 006_disk with evidence 3.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -4.633471696670871)
current most likely hypothesis: 006_disk with evidence 4.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -5.633471696670871)
current most likely hypothesis: 006_disk with evidence 3.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -6.633471696670871)
current most likely hypothesis: 006_disk with evidence 4.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -7.633471696670871)
current most likely hypothesis: 006_disk with evidence 3.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -8.63347169667087)
current most likely hypothesis: 006_disk with evidence 2.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -9.63347169667087)
current most likely hypothesis: 006_disk with evidence 2.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -10.63347169667087)
current most likely hypothesis: 006_disk with evidence 1.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -11.63347169667087)
current most likely hypothesis: 006_disk with evidence 0.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4120 out of 4120 hypotheses for 006_disk (evidence > -12.63347169667087)
current most likely hypothesis: 006_disk with evidence -0.75
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Going into exploratory mode after 15 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 91 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 600 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 9 to 10 of 14
New primary target: {'euler_rotation': [35, 135, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168,  0.11507513,  0.88111957, -0.27781593]),
 'rotation': (0.3649716762170988,
              0.11507512748638377,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 10
resetting RNG to seed 1177517334
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > 0.35777277418144243)
current most likely hypothesis: 006_disk with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -0.6422272258185575)
current most likely hypothesis: 006_disk with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -1.6422272258185575)
current most likely hypothesis: 006_disk with evidence 5.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -2.6422272258185577)
current most likely hypothesis: 006_disk with evidence 6.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -3.6422272258185577)
current most likely hypothesis: 006_disk with evidence 7.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -4.642227225818558)
current most likely hypothesis: 006_disk with evidence 6.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -5.642227225818558)
current most likely hypothesis: 006_disk with evidence 5.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -6.642227225818558)
current most likely hypothesis: 006_disk with evidence 4.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -7.642227225818558)
current most likely hypothesis: 006_disk with evidence 3.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -8.642227225818559)
current most likely hypothesis: 006_disk with evidence 3.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -9.642227225818559)
current most likely hypothesis: 006_disk with evidence 2.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -10.642227225818559)
current most likely hypothesis: 006_disk with evidence 1.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -11.642227225818559)
current most likely hypothesis: 006_disk with evidence 2.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -12.642227225818559)
current most likely hypothesis: 006_disk with evidence 1.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -13.642227225818559)
current most likely hypothesis: 006_disk with evidence 0.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -14.642227225818559)
current most likely hypothesis: 006_disk with evidence 1.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -15.642227225818559)
current most likely hypothesis: 006_disk with evidence 0.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4800 out of 4800 hypotheses for 006_disk (evidence > -16.64222722581856)
current most likely hypothesis: 006_disk with evidence -0.31
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 91 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 690 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 10 to 11 of 14
New primary target: {'euler_rotation': [325, 135, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168,  0.11507513, -0.88111957, -0.27781593]),
 'rotation': (-0.36497167621709875,
              0.11507512748638385,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 11
resetting RNG to seed 111915506
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > 0.41425324430157173)
current most likely hypothesis: 006_disk with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -0.5857467556984283)
current most likely hypothesis: 006_disk with evidence 3.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -1.5857467556984282)
current most likely hypothesis: 006_disk with evidence 5.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -2.585746755698428)
current most likely hypothesis: 006_disk with evidence 4.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -3.585746755698428)
current most likely hypothesis: 006_disk with evidence 5.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -4.585746755698429)
current most likely hypothesis: 006_disk with evidence 7.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -5.585746755698429)
current most likely hypothesis: 006_disk with evidence 6.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -6.585746755698429)
current most likely hypothesis: 006_disk with evidence 5.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -7.585746755698429)
current most likely hypothesis: 006_disk with evidence 4.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -8.585746755698429)
current most likely hypothesis: 006_disk with evidence 5.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -9.585746755698429)
current most likely hypothesis: 006_disk with evidence 4.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -10.585746755698429)
current most likely hypothesis: 006_disk with evidence 3.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -11.585746755698429)
current most likely hypothesis: 006_disk with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -12.585746755698429)
current most likely hypothesis: 006_disk with evidence 6.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -13.585746755698429)
current most likely hypothesis: 006_disk with evidence 5.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -14.585746755698429)
current most likely hypothesis: 006_disk with evidence 4.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -15.585746755698429)
current most likely hypothesis: 006_disk with evidence 3.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -16.58574675569843)
current most likely hypothesis: 006_disk with evidence 2.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -17.58574675569843)
current most likely hypothesis: 006_disk with evidence 1.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -18.58574675569843)
current most likely hypothesis: 006_disk with evidence 2.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -19.58574675569843)
current most likely hypothesis: 006_disk with evidence 4.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -20.58574675569843)
current most likely hypothesis: 006_disk with evidence 3.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -21.58574675569843)
current most likely hypothesis: 006_disk with evidence 2.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -22.58574675569843)
current most likely hypothesis: 006_disk with evidence 1.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -23.58574675569843)
current most likely hypothesis: 006_disk with evidence 0.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5520 out of 5520 hypotheses for 006_disk (evidence > -24.58574675569843)
current most likely hypothesis: 006_disk with evidence -0.93
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Going into exploratory mode after 27 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 93 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 780 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 11 to 12 of 14
New primary target: {'euler_rotation': [35, 225, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168, -0.11507513,  0.88111957, -0.27781593]),
 'rotation': (-0.3649716762170987,
              -0.11507512748638374,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 12
resetting RNG to seed 1538901097
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > 0.4112399738925253)
current most likely hypothesis: 006_disk with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -0.5887600261074747)
current most likely hypothesis: 006_disk with evidence 3.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -1.5887600261074746)
current most likely hypothesis: 006_disk with evidence 5.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -2.5887600261074746)
current most likely hypothesis: 006_disk with evidence 6.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -3.5887600261074746)
current most likely hypothesis: 006_disk with evidence 8.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -4.588760026107474)
current most likely hypothesis: 006_disk with evidence 9.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -5.588760026107474)
current most likely hypothesis: 006_disk with evidence 11.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -6.588760026107474)
current most likely hypothesis: 006_disk with evidence 12.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -7.588760026107474)
current most likely hypothesis: 006_disk with evidence 13.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -8.588760026107474)
current most likely hypothesis: 006_disk with evidence 15.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -9.588760026107474)
current most likely hypothesis: 006_disk with evidence 16.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -10.588760026107474)
current most likely hypothesis: 006_disk with evidence 18.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -11.588760026107474)
current most likely hypothesis: 006_disk with evidence 17.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -12.588760026107474)
current most likely hypothesis: 006_disk with evidence 18.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6240 out of 6240 hypotheses for 006_disk (evidence > -13.588760026107474)
current most likely hypothesis: 006_disk with evidence 20.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.02830199  1.49687813  0.00349659]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.028  1.497  0.003], rotation [325.461 314.682 268.783], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 90 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 862 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 12 to 13 of 14
New primary target: {'euler_rotation': [325, 225, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168, -0.11507513, -0.88111957, -0.27781593]),
 'rotation': (0.3649716762170987,
              -0.11507512748638382,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 006_disk
running train epoch 0 train episode 13
resetting RNG to seed 678633877
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > 0.39767922184275983)
current most likely hypothesis: 006_disk with evidence 2.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -0.6023207781572402)
current most likely hypothesis: 006_disk with evidence 3.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -1.6023207781572402)
current most likely hypothesis: 006_disk with evidence 5.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -2.60232077815724)
current most likely hypothesis: 006_disk with evidence 6.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -3.60232077815724)
current most likely hypothesis: 006_disk with evidence 8.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -4.602320778157241)
current most likely hypothesis: 006_disk with evidence 7.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -5.602320778157241)
current most likely hypothesis: 006_disk with evidence 6.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -6.602320778157241)
current most likely hypothesis: 006_disk with evidence 5.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -7.602320778157241)
current most likely hypothesis: 006_disk with evidence 6.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -8.60232077815724)
current most likely hypothesis: 006_disk with evidence 7.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -9.60232077815724)
current most likely hypothesis: 006_disk with evidence 6.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -10.60232077815724)
current most likely hypothesis: 006_disk with evidence 7.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -11.60232077815724)
current most likely hypothesis: 006_disk with evidence 9.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -12.60232077815724)
current most likely hypothesis: 006_disk with evidence 10.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -13.60232077815724)
current most likely hypothesis: 006_disk with evidence 11.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -14.60232077815724)
current most likely hypothesis: 006_disk with evidence 13.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -15.60232077815724)
current most likely hypothesis: 006_disk with evidence 14.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -16.602320778157242)
current most likely hypothesis: 006_disk with evidence 16.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -17.602320778157242)
current most likely hypothesis: 006_disk with evidence 17.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -18.602320778157242)
current most likely hypothesis: 006_disk with evidence 18.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6896 out of 6896 hypotheses for 006_disk (evidence > -19.602320778157242)
current most likely hypothesis: 006_disk with evidence 20.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [0.02886002 1.49664524 0.00349905]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.029 1.497 0.003], rotation [325.787  45.538 271.678], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 22 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 94 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 949 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 13 to 0 of 14
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '006_disk',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
saving model to /home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_006_disk/pretrained
logger initialized
{'do_eval': False, 'do_train': True, 'monty_config': {'monty_class': <class 'tbp.monty.frameworks.models.evidence_matching.model.MontyForEvidenceGraphMatching'>, 'monty_args': {'num_exploratory_steps': 1000, 'min_eval_steps': 3, 'min_train_steps': 3, 'max_total_steps': 2500}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x7d211e499910>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7d211e46b160>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7d211e40c670>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7d211e413940>, 'sensor_module_1': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7d211e42df40>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x7d211e43a880>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1]], 'lm_to_lm_matrix': [[], [0]], 'lm_to_lm_vote_matrix': None}, 'environment': {'env_init_args': {'objects': [{'name': 'coneSolid', 'position': [0.0, 1.5, -0.1]}], 'scene_id': None, 'seed': 42, 'data_path': '/home/hlee/tbp/data/habitat/objects/compositional_objects', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [64, 64], [64, 64]], 'positions': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rotations': [[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False], 'zooms': [10.0, 5.0, 1.0]}, 'agent_type': <class 'tbp.monty.simulators.habitat.agents.MultiSensorAgent'>}}, 'env_init_func': <class 'tbp.monty.simulators.habitat.environment.HabitatEnvironment'>, 'transform': [<tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x7d211d9ba8b0>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x7d211d9ba910>]}, 'train_env_interface_args': {'parent_to_child_mapping': None, 'object_names': ['011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder', '011_cylinder'], 'object_init_sampler': <tbp.monty.frameworks.environments.object_init_samplers.Predefined object at 0x7d211d94eb80>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7d211d965ac0>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7d211d9670d0>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'logging': {'monty_log_level': 'SILENT', 'monty_handlers': [], 'wandb_handlers': [], 'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_011_cylinder/pretrained'), 'resume_wandb_run': False, 'wandb_id': 'a01ymw9g', 'wandb_group': '20260630_compositional_configs', 'run_name': 'supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_011_cylinder', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'max_train_steps': 1000, 'max_eval_steps': 500, 'max_total_steps': 6000, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', 'min_lms_match': 1, 'seed': 42, 'supervised_lm_ids': ['learning_module_0']}
running train epoch 0
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 0
resetting RNG to seed 1060955053
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
011_cylinder not in memory ([])
Adding a new graph to memory.
init object model with id 011_cylinder
building graph from 80 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7d211d74ddc0>
Added new graph with id 011_cylinder to memory.
Model for 011_cylinder:
   Contains 80 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 0 to 1 of 14
New primary target: {'euler_rotation': [0, 90, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.        , 0.70710678, 0.        ]),
 'rotation': (0.7071067811865476, 0.0, 0.7071067811865475, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 1
resetting RNG to seed 1260428609
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > 0.8997149415057013)
current most likely hypothesis: 011_cylinder with evidence 2.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -0.1002850584942987)
current most likely hypothesis: 011_cylinder with evidence 4.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -1.1002850584942987)
current most likely hypothesis: 011_cylinder with evidence 6.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -2.1002850584942987)
current most likely hypothesis: 011_cylinder with evidence 8.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -3.1002850584942987)
current most likely hypothesis: 011_cylinder with evidence 10.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -4.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 12.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -5.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 11.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -6.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 10.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -7.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 9.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -8.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 8.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -9.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 7.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -10.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 6.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -11.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 5.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -12.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 4.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -13.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 6.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -14.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 8.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -15.100285058494299)
current most likely hypothesis: 011_cylinder with evidence 10.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -16.1002850584943)
current most likely hypothesis: 011_cylinder with evidence 12.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -17.1002850584943)
current most likely hypothesis: 011_cylinder with evidence 14.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -18.1002850584943)
current most likely hypothesis: 011_cylinder with evidence 16.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -19.1002850584943)
current most likely hypothesis: 011_cylinder with evidence 18.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > -20.1002850584943)
current most likely hypothesis: 011_cylinder with evidence 20.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [0.0044777  1.48156454 0.04979724]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.004 1.482 0.05 ], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 23 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 80 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 160 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 1 to 2 of 14
New primary target: {'euler_rotation': [0, 180, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([6.123234e-17, 0.000000e+00, 1.000000e+00, 0.000000e+00]),
 'rotation': (6.123233995736766e-17, 0.0, 1.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 2
resetting RNG to seed 3997959863
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > 0.9093521891819789)
current most likely hypothesis: 011_cylinder with evidence 2.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -0.09064781081802109)
current most likely hypothesis: 011_cylinder with evidence 4.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -1.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 6.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -2.0906478108180213)
current most likely hypothesis: 011_cylinder with evidence 8.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -3.0906478108180213)
current most likely hypothesis: 011_cylinder with evidence 10.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -4.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 12.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -5.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 14.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -6.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 16.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -7.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 18.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -8.090647810818021)
current most likely hypothesis: 011_cylinder with evidence 20.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.0497974   1.48640915  0.00447532]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.05   1.486  0.004], rotation [ 0.299 90.     0.299], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 80 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 240 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 2 to 3 of 14
New primary target: {'euler_rotation': [0, 270, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.70710678,  0.        ,  0.70710678,  0.        ]),
 'rotation': (-0.7071067811865475, 0.0, 0.7071067811865476, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 3
resetting RNG to seed 99937259
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > 0.868555084514662)
current most likely hypothesis: 011_cylinder with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -0.131444915485338)
current most likely hypothesis: 011_cylinder with evidence 4.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -1.1314449154853379)
current most likely hypothesis: 011_cylinder with evidence 6.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -2.131444915485338)
current most likely hypothesis: 011_cylinder with evidence 8.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -3.131444915485338)
current most likely hypothesis: 011_cylinder with evidence 10.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -4.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 12.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -5.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 14.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -6.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 16.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -7.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 18.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -8.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 20.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.02713637  1.48640915 -0.02266104]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -9.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 22.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.03100886  1.49041388 -0.01698358]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -10.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 24.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.03100834  1.50462644 -0.01698414]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -11.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 26.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.03101026  1.51950977 -0.0169802 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -12.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 28.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.02504156  1.51810914 -0.02495714]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -13.131444915485337)
current most likely hypothesis: 011_cylinder with evidence 27.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.0171109   1.51947048 -0.03093735]
added symmetry evidence
Symmetry detected for hypotheses [ 43 230]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.048  1.519 -0.014], rotation [ 0.274 90.     0.274], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 80 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 320 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 3 to 4 of 14
New primary target: {'euler_rotation': [90, 0, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.70710678, 0.        , 0.        ]),
 'rotation': (0.7071067811865476, 0.7071067811865475, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 4
resetting RNG to seed 560786102
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2560 out of 2560 hypotheses for 011_cylinder (evidence > 0.6878286852147841)
current most likely hypothesis: 011_cylinder with evidence 1.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2560 out of 2560 hypotheses for 011_cylinder (evidence > -0.31217131478521587)
current most likely hypothesis: 011_cylinder with evidence 1.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2560 out of 2560 hypotheses for 011_cylinder (evidence > -1.3121713147852159)
current most likely hypothesis: 011_cylinder with evidence 0.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2560 out of 2560 hypotheses for 011_cylinder (evidence > -2.312171314785216)
current most likely hypothesis: 011_cylinder with evidence -0.92
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Going into exploratory mode after 5 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 96 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 416 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 4 to 5 of 14
New primary target: {'euler_rotation': [90, 180, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 4.32978028e-17,  4.32978028e-17,  7.07106781e-01, -7.07106781e-01]),
 'rotation': (4.329780281177467e-17,
              4.329780281177466e-17,
              0.7071067811865476,
              -0.7071067811865475),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 5
resetting RNG to seed 1953320932
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > 0.713824321138359)
current most likely hypothesis: 011_cylinder with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -0.28617567886164097)
current most likely hypothesis: 011_cylinder with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -1.286175678861641)
current most likely hypothesis: 011_cylinder with evidence 5.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -2.2861756788616407)
current most likely hypothesis: 011_cylinder with evidence 6.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -3.2861756788616407)
current most likely hypothesis: 011_cylinder with evidence 8.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -4.286175678861641)
current most likely hypothesis: 011_cylinder with evidence 9.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -5.286175678861641)
current most likely hypothesis: 011_cylinder with evidence 11.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -6.286175678861641)
current most likely hypothesis: 011_cylinder with evidence 12.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -7.286175678861641)
current most likely hypothesis: 011_cylinder with evidence 14.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -8.28617567886164)
current most likely hypothesis: 011_cylinder with evidence 15.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -9.28617567886164)
current most likely hypothesis: 011_cylinder with evidence 17.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -10.28617567886164)
current most likely hypothesis: 011_cylinder with evidence 18.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -11.28617567886164)
current most likely hypothesis: 011_cylinder with evidence 19.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3328 out of 3328 hypotheses for 011_cylinder (evidence > -12.28617567886164)
current most likely hypothesis: 011_cylinder with evidence 21.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.00514991  1.55000028  0.01623845]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.005  1.55   0.016], rotation [90.  0.  0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 15 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 96 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 512 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 5 to 6 of 14
New primary target: {'euler_rotation': [35, 45, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957,  0.27781593,  0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              0.27781593346944056,
              0.36497167621709875,
              -0.11507512748638375),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 6
resetting RNG to seed 2492039860
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > 0.620777260658081)
current most likely hypothesis: 011_cylinder with evidence 1.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -0.37922273934191897)
current most likely hypothesis: 011_cylinder with evidence 1.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -1.379222739341919)
current most likely hypothesis: 011_cylinder with evidence 0.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -2.3792227393419187)
current most likely hypothesis: 011_cylinder with evidence 2.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -3.3792227393419187)
current most likely hypothesis: 011_cylinder with evidence 1.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -4.379222739341919)
current most likely hypothesis: 011_cylinder with evidence 0.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -5.379222739341919)
current most likely hypothesis: 011_cylinder with evidence 2.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -6.379222739341919)
current most likely hypothesis: 011_cylinder with evidence 1.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -7.379222739341919)
current most likely hypothesis: 011_cylinder with evidence 0.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1024 out of 1024 hypotheses for 011_cylinder (evidence > -8.37922273934192)
current most likely hypothesis: 011_cylinder with evidence -0.35
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 81 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 591 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 6 to 7 of 14
New primary target: {'euler_rotation': [325, 45, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957,  0.27781593, -0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              0.2778159334694408,
              -0.3649716762170987,
              -0.11507512748638384),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 7
resetting RNG to seed 2201955992
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.96
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > 0.6464815579533877)
current most likely hypothesis: 011_cylinder with evidence 2.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -0.3535184420466123)
current most likely hypothesis: 011_cylinder with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -1.3535184420466124)
current most likely hypothesis: 011_cylinder with evidence 3.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -2.3535184420466124)
current most likely hypothesis: 011_cylinder with evidence 5.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -3.3535184420466124)
current most likely hypothesis: 011_cylinder with evidence 4.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -4.353518442046612)
current most likely hypothesis: 011_cylinder with evidence 3.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -5.353518442046612)
current most likely hypothesis: 011_cylinder with evidence 2.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -6.353518442046612)
current most likely hypothesis: 011_cylinder with evidence 1.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -7.353518442046612)
current most likely hypothesis: 011_cylinder with evidence 0.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1182 out of 1182 hypotheses for 011_cylinder (evidence > -8.353518442046612)
current most likely hypothesis: 011_cylinder with evidence -0.53
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 85 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 675 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 7 to 8 of 14
New primary target: {'euler_rotation': [35, 315, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957, -0.27781593,  0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              -0.27781593346944056,
              0.36497167621709886,
              -0.11507512748638378),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 8
resetting RNG to seed 306583017
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > 0.6594539791994066)
current most likely hypothesis: 011_cylinder with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -0.3405460208005934)
current most likely hypothesis: 011_cylinder with evidence 4.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -1.3405460208005935)
current most likely hypothesis: 011_cylinder with evidence 6.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -2.3405460208005935)
current most likely hypothesis: 011_cylinder with evidence 5.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -3.3405460208005935)
current most likely hypothesis: 011_cylinder with evidence 7.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -4.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 6.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -5.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 8.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -6.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 7.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -7.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 6.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -8.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 5.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -9.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 4.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -10.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 5.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -11.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 4.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -12.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 3.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -13.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 2.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -14.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 1.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -15.340546020800593)
current most likely hypothesis: 011_cylinder with evidence 3.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -16.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 5.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -17.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -18.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 9.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -19.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 11.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -20.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 10.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -21.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 9.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -22.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 11.05
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -23.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 12.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -24.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 14.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -25.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 16.56
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -26.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 18.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -27.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 17.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -28.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 16.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -29.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 15.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -30.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 14.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -31.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 13.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -32.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 12.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -33.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 11.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -34.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 10.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -35.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 9.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -36.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 8.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -37.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 10.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -38.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 12.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -39.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 14.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -40.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 15.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -41.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 17.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -42.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 19.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 011_cylinder (evidence > -43.340546020800595)
current most likely hypothesis: 011_cylinder with evidence 21.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
all possible locations are in radius 0.1 of [-0.04808351  1.51016422  0.01370149]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.048  1.51   0.014], rotation [325.031  44.955 180.047], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 49 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 77 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 751 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 8 to 9 of 14
New primary target: {'euler_rotation': [325, 315, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957, -0.27781593, -0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              -0.2778159334694408,
              -0.3649716762170988,
              -0.11507512748638386),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 9
resetting RNG to seed 583356519
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > 0.5233219338075038)
current most likely hypothesis: 011_cylinder with evidence 2.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -0.4766780661924962)
current most likely hypothesis: 011_cylinder with evidence 4.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -1.476678066192496)
current most likely hypothesis: 011_cylinder with evidence 6.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -2.476678066192496)
current most likely hypothesis: 011_cylinder with evidence 8.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -3.476678066192496)
current most likely hypothesis: 011_cylinder with evidence 7.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -4.4766780661924965)
current most likely hypothesis: 011_cylinder with evidence 6.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -5.4766780661924965)
current most likely hypothesis: 011_cylinder with evidence 5.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -6.4766780661924965)
current most likely hypothesis: 011_cylinder with evidence 4.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -7.4766780661924965)
current most likely hypothesis: 011_cylinder with evidence 5.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -8.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 7.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -9.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 9.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -10.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 8.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -11.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 7.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -12.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 9.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -13.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 11.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -14.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 10.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -15.476678066192497)
current most likely hypothesis: 011_cylinder with evidence 9.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -16.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 8.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -17.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 7.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -18.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 8.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -19.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 10.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -20.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 12.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -21.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 11.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -22.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 10.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -23.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 9.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -24.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 8.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -25.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 10.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -26.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 9.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -27.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 8.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -28.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 7.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -29.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 9.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -30.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 11.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -31.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 13.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -32.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 15.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -33.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 17.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -34.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 18.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1502 out of 1502 hypotheses for 011_cylinder (evidence > -35.4766780661925)
current most likely hypothesis: 011_cylinder with evidence 20.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
all possible locations are in radius 0.1 of [-0.01513212  1.49401521  0.04765217]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.015  1.494  0.048], rotation [ 34.906  44.862 179.869], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 41 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 78 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 825 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 9 to 10 of 14
New primary target: {'euler_rotation': [35, 135, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168,  0.11507513,  0.88111957, -0.27781593]),
 'rotation': (0.3649716762170988,
              0.11507512748638377,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 10
resetting RNG to seed 1177517334
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > 0.6063289091265708)
current most likely hypothesis: 011_cylinder with evidence 2.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -0.3936710908734292)
current most likely hypothesis: 011_cylinder with evidence 4.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -1.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 3.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -2.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 5.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -3.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 7.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -4.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 9.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -5.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 11.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -6.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 13.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -7.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 15.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -8.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 17.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -9.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 19.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1650 out of 1650 hypotheses for 011_cylinder (evidence > -10.393671090873429)
current most likely hypothesis: 011_cylinder with evidence 21.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [0.03411352 1.49289954 0.03655122]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.034 1.493 0.037], rotation [325. 315.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 13 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 76 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 900 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 10 to 11 of 14
New primary target: {'euler_rotation': [325, 135, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168,  0.11507513, -0.88111957, -0.27781593]),
 'rotation': (-0.36497167621709875,
              0.11507512748638385,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 11
resetting RNG to seed 111915506
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > 0.6748040049717837)
current most likely hypothesis: 011_cylinder with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -0.3251959950282163)
current most likely hypothesis: 011_cylinder with evidence 4.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -1.3251959950282162)
current most likely hypothesis: 011_cylinder with evidence 6.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -2.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 8.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -3.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 10.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -4.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 12.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -5.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 14.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -6.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 16.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -7.325195995028216)
current most likely hypothesis: 011_cylinder with evidence 18.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 011_cylinder (evidence > -8.325195995028217)
current most likely hypothesis: 011_cylinder with evidence 20.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.04167944 1.53309299 0.0276186 ]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.042 1.533 0.028], rotation [ 35. 315.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 78 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 973 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 11 to 12 of 14
New primary target: {'euler_rotation': [35, 225, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168, -0.11507513,  0.88111957, -0.27781593]),
 'rotation': (-0.3649716762170987,
              -0.11507512748638374,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 12
resetting RNG to seed 1538901097
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > 0.5490065553968577)
current most likely hypothesis: 011_cylinder with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -0.4509934446031423)
current most likely hypothesis: 011_cylinder with evidence 4.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -1.4509934446031423)
current most likely hypothesis: 011_cylinder with evidence 6.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -2.4509934446031423)
current most likely hypothesis: 011_cylinder with evidence 5.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -3.4509934446031423)
current most likely hypothesis: 011_cylinder with evidence 7.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -4.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 9.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -5.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 11.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -6.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 13.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -7.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 15.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -8.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 17.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -9.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 19.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -10.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 18.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -11.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 17.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -12.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 19.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1946 out of 1946 hypotheses for 011_cylinder (evidence > -13.450993444603142)
current most likely hypothesis: 011_cylinder with evidence 21.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.02779738  1.48434001  0.041558  ]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.028  1.484  0.042], rotation [325.  45.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 87 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 1060 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 12 to 13 of 14
New primary target: {'euler_rotation': [325, 225, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168, -0.11507513, -0.88111957, -0.27781593]),
 'rotation': (0.3649716762170987,
              -0.11507512748638382,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
running train epoch 0 train episode 13
resetting RNG to seed 678633877
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > 0.6387465081148622)
current most likely hypothesis: 011_cylinder with evidence 2.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -0.3612534918851378)
current most likely hypothesis: 011_cylinder with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -1.3612534918851378)
current most likely hypothesis: 011_cylinder with evidence 6.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -2.3612534918851376)
current most likely hypothesis: 011_cylinder with evidence 8.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -3.3612534918851376)
current most likely hypothesis: 011_cylinder with evidence 10.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -4.361253491885138)
current most likely hypothesis: 011_cylinder with evidence 12.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -5.361253491885138)
current most likely hypothesis: 011_cylinder with evidence 14.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -6.361253491885138)
current most likely hypothesis: 011_cylinder with evidence 16.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -7.361253491885138)
current most likely hypothesis: 011_cylinder with evidence 15.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -8.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 14.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -9.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 13.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -10.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 15.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -11.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 17.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -12.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 19.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2120 out of 2120 hypotheses for 011_cylinder (evidence > -13.361253491885137)
current most likely hypothesis: 011_cylinder with evidence 21.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.04275051  1.4961649   0.02592914]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.043  1.496  0.026], rotation [35. 45.  0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 79 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 1137 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 13 to 0 of 14
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '011_cylinder',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
saving model to /home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_011_cylinder/pretrained
logger initialized
{'do_eval': False, 'do_train': True, 'monty_config': {'monty_class': <class 'tbp.monty.frameworks.models.evidence_matching.model.MontyForEvidenceGraphMatching'>, 'monty_args': {'num_exploratory_steps': 1000, 'min_eval_steps': 3, 'min_train_steps': 3, 'max_total_steps': 2500}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x7192dc0d78e0>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7192dc0ab130>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7192dc049640>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7192dc052910>, 'sensor_module_1': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7192dc06df10>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x7192dc076220>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1]], 'lm_to_lm_matrix': [[], [0]], 'lm_to_lm_vote_matrix': None}, 'environment': {'env_init_args': {'objects': [{'name': 'coneSolid', 'position': [0.0, 1.5, -0.1]}], 'scene_id': None, 'seed': 42, 'data_path': '/home/hlee/tbp/data/habitat/objects/compositional_objects', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [64, 64], [64, 64]], 'positions': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rotations': [[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False], 'zooms': [10.0, 5.0, 1.0]}, 'agent_type': <class 'tbp.monty.simulators.habitat.agents.MultiSensorAgent'>}}, 'env_init_func': <class 'tbp.monty.simulators.habitat.environment.HabitatEnvironment'>, 'transform': [<tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x7192dc02ef40>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x7192dc02efa0>]}, 'train_env_interface_args': {'parent_to_child_mapping': None, 'object_names': ['016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere', '016_sphere'], 'object_init_sampler': <tbp.monty.frameworks.environments.object_init_samplers.Predefined object at 0x7192dbfc8880>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7192dbfdc730>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7192dbfdc670>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'logging': {'monty_log_level': 'SILENT', 'monty_handlers': [], 'wandb_handlers': [], 'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_016_sphere/pretrained'), 'resume_wandb_run': False, 'wandb_id': 'zrlrtpbn', 'wandb_group': '20260630_compositional_configs', 'run_name': 'supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_016_sphere', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'max_train_steps': 1000, 'max_eval_steps': 500, 'max_total_steps': 6000, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', 'min_lms_match': 1, 'seed': 42, 'supervised_lm_ids': ['learning_module_0']}
running train epoch 0
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 0
resetting RNG to seed 1060955053
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
016_sphere not in memory ([])
Adding a new graph to memory.
init object model with id 016_sphere
building graph from 68 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7192daf71370>
Added new graph with id 016_sphere to memory.
Model for 016_sphere:
   Contains 68 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 0 to 1 of 14
New primary target: {'euler_rotation': [0, 90, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.        , 0.70710678, 0.        ]),
 'rotation': (0.7071067811865476, 0.0, 0.7071067811865475, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 1
resetting RNG to seed 1260428609
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > 0.720212599474375)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -0.279787400525625)
current most likely hypothesis: 016_sphere with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -1.279787400525625)
current most likely hypothesis: 016_sphere with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -2.279787400525625)
current most likely hypothesis: 016_sphere with evidence 4.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -3.279787400525625)
current most likely hypothesis: 016_sphere with evidence 3.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -4.279787400525625)
current most likely hypothesis: 016_sphere with evidence 2.43
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -5.279787400525625)
current most likely hypothesis: 016_sphere with evidence 1.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -6.279787400525625)
current most likely hypothesis: 016_sphere with evidence 0.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -7.279787400525625)
current most likely hypothesis: 016_sphere with evidence 1.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -8.279787400525624)
current most likely hypothesis: 016_sphere with evidence 0.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -9.279787400525624)
current most likely hypothesis: 016_sphere with evidence 2.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -10.279787400525624)
current most likely hypothesis: 016_sphere with evidence 1.34
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -11.279787400525624)
current most likely hypothesis: 016_sphere with evidence 2.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -12.279787400525624)
current most likely hypothesis: 016_sphere with evidence 4.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -13.279787400525624)
current most likely hypothesis: 016_sphere with evidence 5.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -14.279787400525624)
current most likely hypothesis: 016_sphere with evidence 4.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -15.279787400525624)
current most likely hypothesis: 016_sphere with evidence 3.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -16.279787400525624)
current most likely hypothesis: 016_sphere with evidence 2.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -17.279787400525624)
current most likely hypothesis: 016_sphere with evidence 4.15
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -18.279787400525624)
current most likely hypothesis: 016_sphere with evidence 3.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -19.279787400525624)
current most likely hypothesis: 016_sphere with evidence 4.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -20.279787400525624)
current most likely hypothesis: 016_sphere with evidence 6.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -21.279787400525624)
current most likely hypothesis: 016_sphere with evidence 7.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -22.279787400525624)
current most likely hypothesis: 016_sphere with evidence 8.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -23.279787400525624)
current most likely hypothesis: 016_sphere with evidence 7.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -24.279787400525624)
current most likely hypothesis: 016_sphere with evidence 6.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -25.279787400525624)
current most likely hypothesis: 016_sphere with evidence 8.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -26.279787400525624)
current most likely hypothesis: 016_sphere with evidence 9.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -27.279787400525624)
current most likely hypothesis: 016_sphere with evidence 8.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -28.279787400525624)
current most likely hypothesis: 016_sphere with evidence 10.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -29.279787400525624)
current most likely hypothesis: 016_sphere with evidence 9.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -30.279787400525624)
current most likely hypothesis: 016_sphere with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -31.279787400525624)
current most likely hypothesis: 016_sphere with evidence 7.31
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -32.27978740052562)
current most likely hypothesis: 016_sphere with evidence 6.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -33.27978740052562)
current most likely hypothesis: 016_sphere with evidence 5.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -34.27978740052562)
current most likely hypothesis: 016_sphere with evidence 6.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -35.27978740052562)
current most likely hypothesis: 016_sphere with evidence 8.27
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -36.27978740052562)
current most likely hypothesis: 016_sphere with evidence 9.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -37.27978740052562)
current most likely hypothesis: 016_sphere with evidence 11.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -38.27978740052562)
current most likely hypothesis: 016_sphere with evidence 12.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -39.27978740052562)
current most likely hypothesis: 016_sphere with evidence 14.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -40.27978740052562)
current most likely hypothesis: 016_sphere with evidence 15.48
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -41.27978740052562)
current most likely hypothesis: 016_sphere with evidence 16.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -42.27978740052562)
current most likely hypothesis: 016_sphere with evidence 15.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -43.27978740052562)
current most likely hypothesis: 016_sphere with evidence 17.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -44.27978740052562)
current most likely hypothesis: 016_sphere with evidence 18.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > -45.27978740052562)
current most likely hypothesis: 016_sphere with evidence 20.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
all possible locations are in radius 0.1 of [-0.00609143  1.47954298  0.04521046]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.006  1.48   0.045], rotation [0.    0.    0.064], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 55 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 68 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 136 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 1 to 2 of 14
New primary target: {'euler_rotation': [0, 180, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([6.123234e-17, 0.000000e+00, 1.000000e+00, 0.000000e+00]),
 'rotation': (6.123233995736766e-17, 0.0, 1.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 2
resetting RNG to seed 3997959863
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > 0.684924269647807)
current most likely hypothesis: 016_sphere with evidence 2.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -0.31507573035219305)
current most likely hypothesis: 016_sphere with evidence 3.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -1.3150757303521932)
current most likely hypothesis: 016_sphere with evidence 2.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -2.315075730352193)
current most likely hypothesis: 016_sphere with evidence 1.84
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -3.315075730352193)
current most likely hypothesis: 016_sphere with evidence 0.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -4.315075730352193)
current most likely hypothesis: 016_sphere with evidence 2.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -5.315075730352193)
current most likely hypothesis: 016_sphere with evidence 1.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -6.315075730352193)
current most likely hypothesis: 016_sphere with evidence 0.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1088 out of 1088 hypotheses for 016_sphere (evidence > -7.315075730352193)
current most likely hypothesis: 016_sphere with evidence -0.64
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Going into exploratory mode after 10 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 79 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 215 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 2 to 3 of 14
New primary target: {'euler_rotation': [0, 270, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.70710678,  0.        ,  0.70710678,  0.        ]),
 'rotation': (-0.7071067811865475, 0.0, 0.7071067811865476, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 3
resetting RNG to seed 99937259
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > 0.7486839088064524)
current most likely hypothesis: 016_sphere with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -0.2513160911935476)
current most likely hypothesis: 016_sphere with evidence 3.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -1.2513160911935475)
current most likely hypothesis: 016_sphere with evidence 5.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -2.2513160911935475)
current most likely hypothesis: 016_sphere with evidence 6.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -3.2513160911935475)
current most likely hypothesis: 016_sphere with evidence 5.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -4.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -5.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -6.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -7.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -8.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -9.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -10.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -11.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -12.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -13.251316091193548)
current most likely hypothesis: 016_sphere with evidence 5.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -14.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -15.251316091193548)
current most likely hypothesis: 016_sphere with evidence 5.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -16.251316091193548)
current most likely hypothesis: 016_sphere with evidence 5.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -17.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -18.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -19.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -20.251316091193548)
current most likely hypothesis: 016_sphere with evidence 6.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -21.251316091193548)
current most likely hypothesis: 016_sphere with evidence 5.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -22.251316091193548)
current most likely hypothesis: 016_sphere with evidence 4.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -23.251316091193548)
current most likely hypothesis: 016_sphere with evidence 5.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -24.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -25.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -26.251316091193548)
current most likely hypothesis: 016_sphere with evidence 9.93
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -27.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -28.251316091193548)
current most likely hypothesis: 016_sphere with evidence 10.4
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -29.251316091193548)
current most likely hypothesis: 016_sphere with evidence 9.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -30.251316091193548)
current most likely hypothesis: 016_sphere with evidence 8.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -31.251316091193548)
current most likely hypothesis: 016_sphere with evidence 7.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -32.251316091193544)
current most likely hypothesis: 016_sphere with evidence 8.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -33.251316091193544)
current most likely hypothesis: 016_sphere with evidence 10.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -34.251316091193544)
current most likely hypothesis: 016_sphere with evidence 9.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -35.251316091193544)
current most likely hypothesis: 016_sphere with evidence 8.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -36.251316091193544)
current most likely hypothesis: 016_sphere with evidence 9.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -37.251316091193544)
current most likely hypothesis: 016_sphere with evidence 11.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -38.251316091193544)
current most likely hypothesis: 016_sphere with evidence 12.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -39.251316091193544)
current most likely hypothesis: 016_sphere with evidence 11.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -40.251316091193544)
current most likely hypothesis: 016_sphere with evidence 13.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -41.251316091193544)
current most likely hypothesis: 016_sphere with evidence 14.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -42.251316091193544)
current most likely hypothesis: 016_sphere with evidence 13.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -43.251316091193544)
current most likely hypothesis: 016_sphere with evidence 12.65
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -44.251316091193544)
current most likely hypothesis: 016_sphere with evidence 14.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -45.251316091193544)
current most likely hypothesis: 016_sphere with evidence 15.53
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -46.251316091193544)
current most likely hypothesis: 016_sphere with evidence 14.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -47.251316091193544)
current most likely hypothesis: 016_sphere with evidence 16.03
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -48.251316091193544)
current most likely hypothesis: 016_sphere with evidence 17.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -49.251316091193544)
current most likely hypothesis: 016_sphere with evidence 18.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -50.251316091193544)
current most likely hypothesis: 016_sphere with evidence 20.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
all possible locations are in radius 0.1 of [-0.01504846  1.47949789  0.00207195]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -51.251316091193544)
current most likely hypothesis: 016_sphere with evidence 21.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
all possible locations are in radius 0.1 of [-0.01168018  1.47124023  0.00701968]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -52.251316091193544)
current most likely hypothesis: 016_sphere with evidence 23.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
all possible locations are in radius 0.1 of [-0.01393449  1.48384338  0.00737779]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -53.251316091193544)
current most likely hypothesis: 016_sphere with evidence 24.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
all possible locations are in radius 0.1 of [-0.01525038  1.49645701  0.00661543]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -54.251316091193544)
current most likely hypothesis: 016_sphere with evidence 26.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
all possible locations are in radius 0.1 of [-0.01507207  1.50700765  0.00672054]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > -55.251316091193544)
current most likely hypothesis: 016_sphere with evidence 27.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
all possible locations are in radius 0.1 of [-0.01191658  1.5237485   0.00855429]
added symmetry evidence
Symmetry detected for hypotheses [ 34 210 211]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.026 1.524 0.036], rotation [0.    0.    0.042], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 63 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 71 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 286 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 3 to 4 of 14
New primary target: {'euler_rotation': [90, 0, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.70710678, 0.        , 0.        ]),
 'rotation': (0.7071067811865476, 0.7071067811865475, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 4
resetting RNG to seed 560786102
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > 0.7362525951220479)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -0.2637474048779521)
current most likely hypothesis: 016_sphere with evidence 3.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -1.263747404877952)
current most likely hypothesis: 016_sphere with evidence 5.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -2.263747404877952)
current most likely hypothesis: 016_sphere with evidence 6.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -3.263747404877952)
current most likely hypothesis: 016_sphere with evidence 8.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -4.263747404877952)
current most likely hypothesis: 016_sphere with evidence 9.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -5.263747404877952)
current most likely hypothesis: 016_sphere with evidence 8.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -6.263747404877952)
current most likely hypothesis: 016_sphere with evidence 10.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -7.263747404877952)
current most likely hypothesis: 016_sphere with evidence 11.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -8.263747404877952)
current most likely hypothesis: 016_sphere with evidence 13.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -9.263747404877952)
current most likely hypothesis: 016_sphere with evidence 14.61
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -10.263747404877952)
current most likely hypothesis: 016_sphere with evidence 16.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -11.263747404877952)
current most likely hypothesis: 016_sphere with evidence 17.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -12.263747404877952)
current most likely hypothesis: 016_sphere with evidence 16.49
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -13.263747404877952)
current most likely hypothesis: 016_sphere with evidence 15.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -14.263747404877952)
current most likely hypothesis: 016_sphere with evidence 14.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -15.263747404877952)
current most likely hypothesis: 016_sphere with evidence 13.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -16.263747404877954)
current most likely hypothesis: 016_sphere with evidence 14.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -17.263747404877954)
current most likely hypothesis: 016_sphere with evidence 13.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -18.263747404877954)
current most likely hypothesis: 016_sphere with evidence 12.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -19.263747404877954)
current most likely hypothesis: 016_sphere with evidence 14.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -20.263747404877954)
current most likely hypothesis: 016_sphere with evidence 13.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -21.263747404877954)
current most likely hypothesis: 016_sphere with evidence 12.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -22.263747404877954)
current most likely hypothesis: 016_sphere with evidence 11.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -23.263747404877954)
current most likely hypothesis: 016_sphere with evidence 10.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -24.263747404877954)
current most likely hypothesis: 016_sphere with evidence 9.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -25.263747404877954)
current most likely hypothesis: 016_sphere with evidence 8.29
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -26.263747404877954)
current most likely hypothesis: 016_sphere with evidence 7.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -27.263747404877954)
current most likely hypothesis: 016_sphere with evidence 6.29
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -28.263747404877954)
current most likely hypothesis: 016_sphere with evidence 5.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -29.263747404877954)
current most likely hypothesis: 016_sphere with evidence 4.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -30.263747404877954)
current most likely hypothesis: 016_sphere with evidence 3.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -31.263747404877954)
current most likely hypothesis: 016_sphere with evidence 4.46
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -32.263747404877954)
current most likely hypothesis: 016_sphere with evidence 3.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -33.263747404877954)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -34.263747404877954)
current most likely hypothesis: 016_sphere with evidence 1.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -35.263747404877954)
current most likely hypothesis: 016_sphere with evidence 0.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2288 out of 2288 hypotheses for 016_sphere (evidence > -36.263747404877954)
current most likely hypothesis: 016_sphere with evidence -0.54
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Going into exploratory mode after 43 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 356 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 4 to 5 of 14
New primary target: {'euler_rotation': [90, 180, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 4.32978028e-17,  4.32978028e-17,  7.07106781e-01, -7.07106781e-01]),
 'rotation': (4.329780281177467e-17,
              4.329780281177466e-17,
              0.7071067811865476,
              -0.7071067811865475),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 5
resetting RNG to seed 1953320932
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > 0.7271411237319775)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -0.2728588762680225)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -1.2728588762680224)
current most likely hypothesis: 016_sphere with evidence 5.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -2.2728588762680224)
current most likely hypothesis: 016_sphere with evidence 4.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -3.2728588762680224)
current most likely hypothesis: 016_sphere with evidence 5.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -4.272858876268023)
current most likely hypothesis: 016_sphere with evidence 6.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -5.272858876268023)
current most likely hypothesis: 016_sphere with evidence 5.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -6.272858876268023)
current most likely hypothesis: 016_sphere with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -7.272858876268023)
current most likely hypothesis: 016_sphere with evidence 4.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -8.272858876268023)
current most likely hypothesis: 016_sphere with evidence 3.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -9.272858876268023)
current most likely hypothesis: 016_sphere with evidence 2.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -10.272858876268023)
current most likely hypothesis: 016_sphere with evidence 1.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -11.272858876268023)
current most likely hypothesis: 016_sphere with evidence 0.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2848 out of 2848 hypotheses for 016_sphere (evidence > -12.272858876268023)
current most likely hypothesis: 016_sphere with evidence -0.76
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 74 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 430 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 5 to 6 of 14
New primary target: {'euler_rotation': [35, 45, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957,  0.27781593,  0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              0.27781593346944056,
              0.36497167621709875,
              -0.11507512748638375),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 6
resetting RNG to seed 2492039860
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > 0.738659264515454)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -0.26134073548454595)
current most likely hypothesis: 016_sphere with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -1.2613407354845458)
current most likely hypothesis: 016_sphere with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -2.261340735484546)
current most likely hypothesis: 016_sphere with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -3.261340735484546)
current most likely hypothesis: 016_sphere with evidence 8.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -4.261340735484546)
current most likely hypothesis: 016_sphere with evidence 7.33
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -5.261340735484546)
current most likely hypothesis: 016_sphere with evidence 6.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -6.261340735484546)
current most likely hypothesis: 016_sphere with evidence 5.33
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -7.261340735484546)
current most likely hypothesis: 016_sphere with evidence 6.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -8.261340735484545)
current most likely hypothesis: 016_sphere with evidence 8.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -9.261340735484545)
current most likely hypothesis: 016_sphere with evidence 7.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -10.261340735484545)
current most likely hypothesis: 016_sphere with evidence 8.64
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -11.261340735484545)
current most likely hypothesis: 016_sphere with evidence 10.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -12.261340735484545)
current most likely hypothesis: 016_sphere with evidence 9.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -13.261340735484545)
current most likely hypothesis: 016_sphere with evidence 8.08
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -14.261340735484545)
current most likely hypothesis: 016_sphere with evidence 7.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -15.261340735484545)
current most likely hypothesis: 016_sphere with evidence 6.08
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -16.261340735484545)
current most likely hypothesis: 016_sphere with evidence 5.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -17.261340735484545)
current most likely hypothesis: 016_sphere with evidence 4.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -18.261340735484545)
current most likely hypothesis: 016_sphere with evidence 5.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -19.261340735484545)
current most likely hypothesis: 016_sphere with evidence 4.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -20.261340735484545)
current most likely hypothesis: 016_sphere with evidence 3.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -21.261340735484545)
current most likely hypothesis: 016_sphere with evidence 5.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -22.261340735484545)
current most likely hypothesis: 016_sphere with evidence 4.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -23.261340735484545)
current most likely hypothesis: 016_sphere with evidence 3.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -24.261340735484545)
current most likely hypothesis: 016_sphere with evidence 2.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -25.261340735484545)
current most likely hypothesis: 016_sphere with evidence 1.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -26.261340735484545)
current most likely hypothesis: 016_sphere with evidence 0.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3440 out of 3440 hypotheses for 016_sphere (evidence > -27.261340735484545)
current most likely hypothesis: 016_sphere with evidence -0.87
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Going into exploratory mode after 33 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 499 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 6 to 7 of 14
New primary target: {'euler_rotation': [325, 45, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957,  0.27781593, -0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              0.2778159334694408,
              -0.3649716762170987,
              -0.11507512748638384),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 7
resetting RNG to seed 2201955992
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > 0.7368118175751401)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -0.26318818242485986)
current most likely hypothesis: 016_sphere with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -1.2631881824248599)
current most likely hypothesis: 016_sphere with evidence 5.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -2.2631881824248596)
current most likely hypothesis: 016_sphere with evidence 4.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -3.2631881824248596)
current most likely hypothesis: 016_sphere with evidence 5.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -4.26318818242486)
current most likely hypothesis: 016_sphere with evidence 7.32
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -5.26318818242486)
current most likely hypothesis: 016_sphere with evidence 8.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -6.26318818242486)
current most likely hypothesis: 016_sphere with evidence 7.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -7.26318818242486)
current most likely hypothesis: 016_sphere with evidence 6.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -8.263188182424859)
current most likely hypothesis: 016_sphere with evidence 5.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -9.263188182424859)
current most likely hypothesis: 016_sphere with evidence 7.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -10.263188182424859)
current most likely hypothesis: 016_sphere with evidence 8.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -11.263188182424859)
current most likely hypothesis: 016_sphere with evidence 7.67
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -12.263188182424859)
current most likely hypothesis: 016_sphere with evidence 6.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -13.263188182424859)
current most likely hypothesis: 016_sphere with evidence 8.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -14.263188182424859)
current most likely hypothesis: 016_sphere with evidence 9.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -15.263188182424859)
current most likely hypothesis: 016_sphere with evidence 11.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -16.26318818242486)
current most likely hypothesis: 016_sphere with evidence 12.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -17.26318818242486)
current most likely hypothesis: 016_sphere with evidence 14.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -18.26318818242486)
current most likely hypothesis: 016_sphere with evidence 15.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -19.26318818242486)
current most likely hypothesis: 016_sphere with evidence 14.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -20.26318818242486)
current most likely hypothesis: 016_sphere with evidence 13.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -21.26318818242486)
current most likely hypothesis: 016_sphere with evidence 12.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -22.26318818242486)
current most likely hypothesis: 016_sphere with evidence 11.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -23.26318818242486)
current most likely hypothesis: 016_sphere with evidence 13.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -24.26318818242486)
current most likely hypothesis: 016_sphere with evidence 14.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -25.26318818242486)
current most likely hypothesis: 016_sphere with evidence 15.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -26.26318818242486)
current most likely hypothesis: 016_sphere with evidence 17.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -27.26236734682912)
current most likely hypothesis: 016_sphere with evidence 16.39
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -28.26236734682912)
current most likely hypothesis: 016_sphere with evidence 15.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -29.26236734682912)
current most likely hypothesis: 016_sphere with evidence 14.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -30.26236734682912)
current most likely hypothesis: 016_sphere with evidence 13.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -31.26236734682912)
current most likely hypothesis: 016_sphere with evidence 12.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -32.26236734682912)
current most likely hypothesis: 016_sphere with evidence 11.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -33.26236734682912)
current most likely hypothesis: 016_sphere with evidence 10.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -34.26236734682912)
current most likely hypothesis: 016_sphere with evidence 9.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -35.26236734682912)
current most likely hypothesis: 016_sphere with evidence 10.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -36.26236734682912)
current most likely hypothesis: 016_sphere with evidence 12.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -37.26236734682912)
current most likely hypothesis: 016_sphere with evidence 13.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -38.26236734682912)
current most likely hypothesis: 016_sphere with evidence 15.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -39.26236734682912)
current most likely hypothesis: 016_sphere with evidence 14.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -40.26236734682912)
current most likely hypothesis: 016_sphere with evidence 13.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -41.26236734682912)
current most likely hypothesis: 016_sphere with evidence 12.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -42.26236734682912)
current most likely hypothesis: 016_sphere with evidence 13.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -43.26236734682912)
current most likely hypothesis: 016_sphere with evidence 15.17
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -44.262203022138905)
current most likely hypothesis: 016_sphere with evidence 14.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -45.262203022138905)
current most likely hypothesis: 016_sphere with evidence 13.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -46.262203022138905)
current most likely hypothesis: 016_sphere with evidence 14.64
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -47.262203022138905)
current most likely hypothesis: 016_sphere with evidence 16.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -48.262203022138905)
current most likely hypothesis: 016_sphere with evidence 17.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -49.262203022138905)
current most likely hypothesis: 016_sphere with evidence 19.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3992 out of 3992 hypotheses for 016_sphere (evidence > -50.262203022138905)
current most likely hypothesis: 016_sphere with evidence 20.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
all possible locations are in radius 0.1 of [0.02156347 1.53508915 0.02834894]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.022 1.535 0.028], rotation [ 89.994 359.999 358.952], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 61 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 71 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 566 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 7 to 8 of 14
New primary target: {'euler_rotation': [35, 315, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957, -0.27781593,  0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              -0.27781593346944056,
              0.36497167621709886,
              -0.11507512748638378),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 8
resetting RNG to seed 306583017
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > 0.7485565693097596)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -0.25144343069024044)
current most likely hypothesis: 016_sphere with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -1.2514434306902404)
current most likely hypothesis: 016_sphere with evidence 5.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -2.2514434306902404)
current most likely hypothesis: 016_sphere with evidence 6.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -3.2514434306902404)
current most likely hypothesis: 016_sphere with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -4.251443430690241)
current most likely hypothesis: 016_sphere with evidence 9.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -5.251443430690241)
current most likely hypothesis: 016_sphere with evidence 11.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -6.251443430690241)
current most likely hypothesis: 016_sphere with evidence 10.25
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -7.251443430690241)
current most likely hypothesis: 016_sphere with evidence 11.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -8.25144343069024)
current most likely hypothesis: 016_sphere with evidence 13.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -9.25144343069024)
current most likely hypothesis: 016_sphere with evidence 14.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -10.25144343069024)
current most likely hypothesis: 016_sphere with evidence 16.1
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -11.25144343069024)
current most likely hypothesis: 016_sphere with evidence 17.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -12.25144343069024)
current most likely hypothesis: 016_sphere with evidence 19.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 4528 out of 4528 hypotheses for 016_sphere (evidence > -13.25144343069024)
current most likely hypothesis: 016_sphere with evidence 20.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.04244354  1.48513187  0.02183843]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.042  1.485  0.022], rotation [325.013  44.999   2.021], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 18 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 635 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 8 to 9 of 14
New primary target: {'euler_rotation': [325, 315, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957, -0.27781593, -0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              -0.2778159334694408,
              -0.3649716762170988,
              -0.11507512748638386),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 9
resetting RNG to seed 583356519
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > 0.7364895238599466)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -0.2635104761400534)
current most likely hypothesis: 016_sphere with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -1.2635104761400533)
current most likely hypothesis: 016_sphere with evidence 5.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -2.2635104761400533)
current most likely hypothesis: 016_sphere with evidence 6.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -3.2635104761400533)
current most likely hypothesis: 016_sphere with evidence 8.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -4.263510476140054)
current most likely hypothesis: 016_sphere with evidence 9.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -5.263510476140054)
current most likely hypothesis: 016_sphere with evidence 8.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -6.263510476140054)
current most likely hypothesis: 016_sphere with evidence 10.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -7.263510476140054)
current most likely hypothesis: 016_sphere with evidence 11.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -8.263510476140054)
current most likely hypothesis: 016_sphere with evidence 13.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -9.263510476140054)
current most likely hypothesis: 016_sphere with evidence 14.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -10.263510476140054)
current most likely hypothesis: 016_sphere with evidence 13.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -11.263510476140054)
current most likely hypothesis: 016_sphere with evidence 12.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -12.263510476140054)
current most likely hypothesis: 016_sphere with evidence 14.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -13.263510476140054)
current most likely hypothesis: 016_sphere with evidence 15.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -14.263510476140054)
current most likely hypothesis: 016_sphere with evidence 16.93
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -15.263510476140054)
current most likely hypothesis: 016_sphere with evidence 18.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -16.263510476140056)
current most likely hypothesis: 016_sphere with evidence 17.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -17.263510476140056)
current most likely hypothesis: 016_sphere with evidence 18.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -18.263510476140056)
current most likely hypothesis: 016_sphere with evidence 17.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -19.263510476140056)
current most likely hypothesis: 016_sphere with evidence 16.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -20.263510476140056)
current most likely hypothesis: 016_sphere with evidence 18.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -21.263510476140056)
current most likely hypothesis: 016_sphere with evidence 17.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -22.263510476140056)
current most likely hypothesis: 016_sphere with evidence 16.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -23.263510476140056)
current most likely hypothesis: 016_sphere with evidence 15.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -24.263510476140056)
current most likely hypothesis: 016_sphere with evidence 14.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -25.263510476140056)
current most likely hypothesis: 016_sphere with evidence 15.74
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -26.263510476140056)
current most likely hypothesis: 016_sphere with evidence 14.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -27.263510476140056)
current most likely hypothesis: 016_sphere with evidence 13.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -28.263510476140056)
current most likely hypothesis: 016_sphere with evidence 12.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -29.263501424382127)
current most likely hypothesis: 016_sphere with evidence 11.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -30.263501424382127)
current most likely hypothesis: 016_sphere with evidence 13.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -31.263501424382127)
current most likely hypothesis: 016_sphere with evidence 14.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -32.26350142438213)
current most likely hypothesis: 016_sphere with evidence 16.25
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -33.26350142438213)
current most likely hypothesis: 016_sphere with evidence 15.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -34.26350142438213)
current most likely hypothesis: 016_sphere with evidence 16.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -35.26350142438213)
current most likely hypothesis: 016_sphere with evidence 18.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -36.26350142438213)
current most likely hypothesis: 016_sphere with evidence 19.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5080 out of 5080 hypotheses for 016_sphere (evidence > -37.26350142438213)
current most likely hypothesis: 016_sphere with evidence 21.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
all possible locations are in radius 0.1 of [-0.03048465  1.53589834  0.01678146]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.03   1.536  0.017], rotation [ 34.989  45.002 359.042], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 44 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 704 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 9 to 10 of 14
New primary target: {'euler_rotation': [35, 135, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168,  0.11507513,  0.88111957, -0.27781593]),
 'rotation': (0.3649716762170988,
              0.11507512748638377,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 10
resetting RNG to seed 1177517334
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > 0.7166295981332456)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -0.28337040186675444)
current most likely hypothesis: 016_sphere with evidence 3.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -1.2833704018667544)
current most likely hypothesis: 016_sphere with evidence 5.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -2.2833704018667547)
current most likely hypothesis: 016_sphere with evidence 6.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -3.2833704018667547)
current most likely hypothesis: 016_sphere with evidence 5.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -4.283370401866755)
current most likely hypothesis: 016_sphere with evidence 7.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -5.283370401866755)
current most likely hypothesis: 016_sphere with evidence 6.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -6.283370401866755)
current most likely hypothesis: 016_sphere with evidence 7.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -7.283370401866755)
current most likely hypothesis: 016_sphere with evidence 9.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -8.283370401866755)
current most likely hypothesis: 016_sphere with evidence 10.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -9.283370401866755)
current most likely hypothesis: 016_sphere with evidence 9.78
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -10.283370401866755)
current most likely hypothesis: 016_sphere with evidence 8.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -11.283370401866755)
current most likely hypothesis: 016_sphere with evidence 7.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -12.283370401866755)
current most likely hypothesis: 016_sphere with evidence 6.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -13.283370401866755)
current most likely hypothesis: 016_sphere with evidence 8.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -14.283370401866755)
current most likely hypothesis: 016_sphere with evidence 9.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -15.283370401866755)
current most likely hypothesis: 016_sphere with evidence 11.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -16.283370401866755)
current most likely hypothesis: 016_sphere with evidence 12.63
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -17.283370401866755)
current most likely hypothesis: 016_sphere with evidence 14.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -18.283370401866755)
current most likely hypothesis: 016_sphere with evidence 15.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -19.283370401866755)
current most likely hypothesis: 016_sphere with evidence 17.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -20.283370401866755)
current most likely hypothesis: 016_sphere with evidence 18.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5632 out of 5632 hypotheses for 016_sphere (evidence > -21.283370401866755)
current most likely hypothesis: 016_sphere with evidence 20.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
all possible locations are in radius 0.1 of [0.0185342  1.49169311 0.04568449]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.019 1.492 0.046], rotation [325.001 314.999   1.426], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 27 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 67 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 771 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 10 to 11 of 14
New primary target: {'euler_rotation': [325, 135, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168,  0.11507513, -0.88111957, -0.27781593]),
 'rotation': (-0.36497167621709875,
              0.11507512748638385,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 11
resetting RNG to seed 111915506
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > 0.7292926914158769)
current most likely hypothesis: 016_sphere with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -0.27070730858412306)
current most likely hypothesis: 016_sphere with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -1.270707308584123)
current most likely hypothesis: 016_sphere with evidence 5.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -2.270707308584123)
current most likely hypothesis: 016_sphere with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -3.270707308584123)
current most likely hypothesis: 016_sphere with evidence 8.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -4.270707308584123)
current most likely hypothesis: 016_sphere with evidence 7.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -5.270707308584123)
current most likely hypothesis: 016_sphere with evidence 8.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -6.270707308584123)
current most likely hypothesis: 016_sphere with evidence 7.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -7.270707308584123)
current most likely hypothesis: 016_sphere with evidence 9.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -8.270707308584123)
current most likely hypothesis: 016_sphere with evidence 8.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -9.270707308584123)
current most likely hypothesis: 016_sphere with evidence 9.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -10.270707308584123)
current most likely hypothesis: 016_sphere with evidence 10.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -11.270707308584123)
current most likely hypothesis: 016_sphere with evidence 12.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -12.270707308584123)
current most likely hypothesis: 016_sphere with evidence 13.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -13.270707308584123)
current most likely hypothesis: 016_sphere with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -14.270707308584123)
current most likely hypothesis: 016_sphere with evidence 14.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -15.270707308584123)
current most likely hypothesis: 016_sphere with evidence 15.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -16.27070730858412)
current most likely hypothesis: 016_sphere with evidence 17.1
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -17.27070730858412)
current most likely hypothesis: 016_sphere with evidence 18.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -18.27070730858412)
current most likely hypothesis: 016_sphere with evidence 17.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -19.27070730858412)
current most likely hypothesis: 016_sphere with evidence 18.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6168 out of 6168 hypotheses for 016_sphere (evidence > -20.27070730858412)
current most likely hypothesis: 016_sphere with evidence 20.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [-0.03921418  1.49795682  0.03094109]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.039  1.498  0.031], rotation [325.011  45.001 359.796], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 23 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 67 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 835 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 11 to 12 of 14
New primary target: {'euler_rotation': [35, 225, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168, -0.11507513,  0.88111957, -0.27781593]),
 'rotation': (-0.3649716762170987,
              -0.11507512748638374,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 12
resetting RNG to seed 1538901097
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > 0.7444058831169562)
current most likely hypothesis: 016_sphere with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -0.2555941168830438)
current most likely hypothesis: 016_sphere with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -1.2555941168830438)
current most likely hypothesis: 016_sphere with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -2.255594116883044)
current most likely hypothesis: 016_sphere with evidence 6.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -3.255594116883044)
current most likely hypothesis: 016_sphere with evidence 5.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -4.255594116883044)
current most likely hypothesis: 016_sphere with evidence 7.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -5.255594116883044)
current most likely hypothesis: 016_sphere with evidence 8.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -6.255594116883044)
current most likely hypothesis: 016_sphere with evidence 10.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -7.255594116883044)
current most likely hypothesis: 016_sphere with evidence 11.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -8.255594116883044)
current most likely hypothesis: 016_sphere with evidence 10.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -9.255594116883044)
current most likely hypothesis: 016_sphere with evidence 12.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -10.255594116883044)
current most likely hypothesis: 016_sphere with evidence 13.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -11.255594116883044)
current most likely hypothesis: 016_sphere with evidence 15.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -12.255594116883044)
current most likely hypothesis: 016_sphere with evidence 16.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -13.255594116883044)
current most likely hypothesis: 016_sphere with evidence 15.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -14.255594116883044)
current most likely hypothesis: 016_sphere with evidence 17.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -15.255594116883044)
current most likely hypothesis: 016_sphere with evidence 18.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -16.255594116883046)
current most likely hypothesis: 016_sphere with evidence 19.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6680 out of 6680 hypotheses for 016_sphere (evidence > -17.255594116883046)
current most likely hypothesis: 016_sphere with evidence 21.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
all possible locations are in radius 0.1 of [0.04237246 1.51961466 0.01787831]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.042 1.52  0.018], rotation [ 34.991 314.998   0.447], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 24 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 68 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 901 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 12 to 13 of 14
New primary target: {'euler_rotation': [325, 225, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168, -0.11507513, -0.88111957, -0.27781593]),
 'rotation': (0.3649716762170987,
              -0.11507512748638382,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
running train epoch 0 train episode 13
resetting RNG to seed 678633877
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > 0.7494847561023801)
current most likely hypothesis: 016_sphere with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -0.2505152438976199)
current most likely hypothesis: 016_sphere with evidence 3.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -1.25051524389762)
current most likely hypothesis: 016_sphere with evidence 5.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -2.25051524389762)
current most likely hypothesis: 016_sphere with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -3.25051524389762)
current most likely hypothesis: 016_sphere with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -4.25051524389762)
current most likely hypothesis: 016_sphere with evidence 9.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -5.25051524389762)
current most likely hypothesis: 016_sphere with evidence 11.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -6.25051524389762)
current most likely hypothesis: 016_sphere with evidence 10.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -7.25051524389762)
current most likely hypothesis: 016_sphere with evidence 11.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -8.25051524389762)
current most likely hypothesis: 016_sphere with evidence 10.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -9.25051524389762)
current most likely hypothesis: 016_sphere with evidence 9.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -10.25051524389762)
current most likely hypothesis: 016_sphere with evidence 8.68
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -11.25051524389762)
current most likely hypothesis: 016_sphere with evidence 10.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -12.25051524389762)
current most likely hypothesis: 016_sphere with evidence 11.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -13.25051524389762)
current most likely hypothesis: 016_sphere with evidence 12.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -14.25051524389762)
current most likely hypothesis: 016_sphere with evidence 11.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -15.25051524389762)
current most likely hypothesis: 016_sphere with evidence 13.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -16.25051524389762)
current most likely hypothesis: 016_sphere with evidence 14.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -17.25051524389762)
current most likely hypothesis: 016_sphere with evidence 16.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -18.25051524389762)
current most likely hypothesis: 016_sphere with evidence 17.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -19.25051524389762)
current most likely hypothesis: 016_sphere with evidence 19.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7208 out of 7208 hypotheses for 016_sphere (evidence > -20.25051524389762)
current most likely hypothesis: 016_sphere with evidence 20.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
all possible locations are in radius 0.1 of [0.01334141 1.51676637 0.04517443]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.013 1.517 0.045], rotation [0.005 0.    2.005], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 28 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 69 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 969 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 13 to 0 of 14
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '016_sphere',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
saving model to /home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_016_sphere/pretrained
logger initialized
{'do_eval': False, 'do_train': True, 'monty_config': {'monty_class': <class 'tbp.monty.frameworks.models.evidence_matching.model.MontyForEvidenceGraphMatching'>, 'monty_args': {'num_exploratory_steps': 1000, 'min_eval_steps': 3, 'min_train_steps': 3, 'max_total_steps': 2500}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x744ede95f910>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x744ede92e160>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x744ede8c9670>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x744ede8d2940>, 'sensor_module_1': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x744ede8edf40>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x744ede8f6250>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1]], 'lm_to_lm_matrix': [[], [0]], 'lm_to_lm_vote_matrix': None}, 'environment': {'env_init_args': {'objects': [{'name': 'coneSolid', 'position': [0.0, 1.5, -0.1]}], 'scene_id': None, 'seed': 42, 'data_path': '/home/hlee/tbp/data/habitat/objects/compositional_objects', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [64, 64], [64, 64]], 'positions': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rotations': [[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False], 'zooms': [10.0, 5.0, 1.0]}, 'agent_type': <class 'tbp.monty.simulators.habitat.agents.MultiSensorAgent'>}}, 'env_init_func': <class 'tbp.monty.simulators.habitat.environment.HabitatEnvironment'>, 'transform': [<tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x744ede8aef70>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x744ede8aefd0>]}, 'train_env_interface_args': {'parent_to_child_mapping': None, 'object_names': ['023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug', '023_mug'], 'object_init_sampler': <tbp.monty.frameworks.environments.object_init_samplers.Predefined object at 0x744ede8488b0>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x744ede85c760>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x744ede85c6a0>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'logging': {'monty_log_level': 'SILENT', 'monty_handlers': [], 'wandb_handlers': [], 'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_023_mug/pretrained'), 'resume_wandb_run': False, 'wandb_id': 'epnmqhdv', 'wandb_group': '20260630_compositional_configs', 'run_name': 'supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_023_mug', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'max_train_steps': 1000, 'max_eval_steps': 500, 'max_total_steps': 6000, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', 'min_lms_match': 1, 'seed': 42, 'supervised_lm_ids': ['learning_module_0']}
running train epoch 0
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 0
resetting RNG to seed 1060955053
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
023_mug not in memory ([])
Adding a new graph to memory.
init object model with id 023_mug
building graph from 97 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x744edd701bb0>
Added new graph with id 023_mug to memory.
Model for 023_mug:
   Contains 97 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 0 to 1 of 14
New primary target: {'euler_rotation': [0, 90, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.        , 0.70710678, 0.        ]),
 'rotation': (0.7071067811865476, 0.0, 0.7071067811865475, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 1
resetting RNG to seed 1260428609
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > 0.3950320358028265)
current most likely hypothesis: 023_mug with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -0.6049679641971735)
current most likely hypothesis: 023_mug with evidence 4.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -1.6049679641971735)
current most likely hypothesis: 023_mug with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -2.6049679641971735)
current most likely hypothesis: 023_mug with evidence 2.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -3.6049679641971735)
current most likely hypothesis: 023_mug with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -4.604967964197174)
current most likely hypothesis: 023_mug with evidence 3.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -5.604967964197174)
current most likely hypothesis: 023_mug with evidence 5.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -6.604967964197174)
current most likely hypothesis: 023_mug with evidence 7.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -7.604967964197174)
current most likely hypothesis: 023_mug with evidence 6.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -8.604967964197174)
current most likely hypothesis: 023_mug with evidence 5.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -9.604967964197174)
current most likely hypothesis: 023_mug with evidence 4.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -10.604967964197174)
current most likely hypothesis: 023_mug with evidence 3.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -11.604967964197174)
current most likely hypothesis: 023_mug with evidence 2.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -12.604967964197174)
current most likely hypothesis: 023_mug with evidence 1.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -13.604967964197174)
current most likely hypothesis: 023_mug with evidence 3.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -14.604967964197174)
current most likely hypothesis: 023_mug with evidence 2.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -15.604967964197174)
current most likely hypothesis: 023_mug with evidence 1.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -16.604967964197172)
current most likely hypothesis: 023_mug with evidence 0.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > -17.604967964197172)
current most likely hypothesis: 023_mug with evidence -0.43
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Going into exploratory mode after 20 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 80 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 177 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 1 to 2 of 14
New primary target: {'euler_rotation': [0, 180, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([6.123234e-17, 0.000000e+00, 1.000000e+00, 0.000000e+00]),
 'rotation': (6.123233995736766e-17, 0.0, 1.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 2
resetting RNG to seed 3997959863
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > 0.3826356086294167)
current most likely hypothesis: 023_mug with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -0.6173643913705833)
current most likely hypothesis: 023_mug with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -1.6173643913705833)
current most likely hypothesis: 023_mug with evidence 6.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -2.6173643913705833)
current most likely hypothesis: 023_mug with evidence 8.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -3.6173643913705833)
current most likely hypothesis: 023_mug with evidence 10.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -4.617364391370583)
current most likely hypothesis: 023_mug with evidence 12.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -5.617364391370583)
current most likely hypothesis: 023_mug with evidence 14.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -6.617364391370583)
current most likely hypothesis: 023_mug with evidence 16.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -7.617364391370583)
current most likely hypothesis: 023_mug with evidence 18.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 354 out of 354 hypotheses for 023_mug (evidence > -8.617364391370582)
current most likely hypothesis: 023_mug with evidence 20.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.01546491 1.51592574 0.03226205]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.015 1.516 0.032], rotation [  0.    359.773 180.   ], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 92 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 268 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 2 to 3 of 14
New primary target: {'euler_rotation': [0, 270, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.70710678,  0.        ,  0.70710678,  0.        ]),
 'rotation': (-0.7071067811865475, 0.0, 0.7071067811865476, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 3
resetting RNG to seed 99937259
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.76
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 536 out of 536 hypotheses for 023_mug (evidence > 0.35762174774251126)
current most likely hypothesis: 023_mug with evidence -0.24
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Going into exploratory mode after 2 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 91 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 358 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 3 to 4 of 14
New primary target: {'euler_rotation': [90, 0, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([0.70710678, 0.70710678, 0.        , 0.        ]),
 'rotation': (0.7071067811865476, 0.7071067811865475, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 4
resetting RNG to seed 560786102
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2864 out of 2864 hypotheses for 023_mug (evidence > 0.37483247844592404)
current most likely hypothesis: 023_mug with evidence 2.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2864 out of 2864 hypotheses for 023_mug (evidence > -0.625167521554076)
current most likely hypothesis: 023_mug with evidence 1.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2864 out of 2864 hypotheses for 023_mug (evidence > -1.625167521554076)
current most likely hypothesis: 023_mug with evidence 0.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2864 out of 2864 hypotheses for 023_mug (evidence > -2.6251675215540757)
current most likely hypothesis: 023_mug with evidence -0.91
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Going into exploratory mode after 5 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 156 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 512 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 4 to 5 of 14
New primary target: {'euler_rotation': [90, 180, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 4.32978028e-17,  4.32978028e-17,  7.07106781e-01, -7.07106781e-01]),
 'rotation': (4.329780281177467e-17,
              4.329780281177466e-17,
              0.7071067811865476,
              -0.7071067811865475),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 5
resetting RNG to seed 1953320932
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4096 out of 4096 hypotheses for 023_mug (evidence > 0.3532296918767511)
current most likely hypothesis: 023_mug with evidence 2.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4096 out of 4096 hypotheses for 023_mug (evidence > -0.646770308123249)
current most likely hypothesis: 023_mug with evidence 1.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4096 out of 4096 hypotheses for 023_mug (evidence > -1.646770308123249)
current most likely hypothesis: 023_mug with evidence 0.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4096 out of 4096 hypotheses for 023_mug (evidence > -2.6467703081232488)
current most likely hypothesis: 023_mug with evidence -0.97
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Going into exploratory mode after 5 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 75 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 586 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 5 to 6 of 14
New primary target: {'euler_rotation': [35, 45, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957,  0.27781593,  0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              0.27781593346944056,
              0.36497167621709875,
              -0.11507512748638375),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 6
resetting RNG to seed 2492039860
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > 0.2961764705882353)
current most likely hypothesis: 023_mug with evidence 2.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -0.7038235294117647)
current most likely hypothesis: 023_mug with evidence 4.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -1.7038235294117647)
current most likely hypothesis: 023_mug with evidence 3.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -2.703823529411765)
current most likely hypothesis: 023_mug with evidence 2.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -3.703823529411765)
current most likely hypothesis: 023_mug with evidence 1.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -4.703823529411765)
current most likely hypothesis: 023_mug with evidence 0.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -5.703823529411765)
current most likely hypothesis: 023_mug with evidence 2.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -6.703823529411765)
current most likely hypothesis: 023_mug with evidence 1.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -7.703823529411765)
current most likely hypothesis: 023_mug with evidence 0.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1172 out of 1172 hypotheses for 023_mug (evidence > -8.703823529411764)
current most likely hypothesis: 023_mug with evidence -0.26
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 90 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 673 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 6 to 7 of 14
New primary target: {'euler_rotation': [325, 45, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957,  0.27781593, -0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              0.2778159334694408,
              -0.3649716762170987,
              -0.11507512748638384),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 7
resetting RNG to seed 2201955992
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > 0.19833017077798867)
current most likely hypothesis: 023_mug with evidence 2.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -0.8016698292220114)
current most likely hypothesis: 023_mug with evidence 2.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -1.8016698292220115)
current most likely hypothesis: 023_mug with evidence 3.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -2.8016698292220115)
current most likely hypothesis: 023_mug with evidence 2.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -3.8016698292220115)
current most likely hypothesis: 023_mug with evidence 3.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -4.8016698292220115)
current most likely hypothesis: 023_mug with evidence 2.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -5.8016698292220115)
current most likely hypothesis: 023_mug with evidence 1.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -6.8016698292220115)
current most likely hypothesis: 023_mug with evidence 0.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1346 out of 1346 hypotheses for 023_mug (evidence > -7.8016698292220115)
current most likely hypothesis: 023_mug with evidence -0.45
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Going into exploratory mode after 10 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 89 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 759 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 7 to 8 of 14
New primary target: {'euler_rotation': [35, 315, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.88111957, -0.27781593,  0.36497168, -0.11507513]),
 'rotation': (-0.8811195706053617,
              -0.27781593346944056,
              0.36497167621709886,
              -0.11507512748638378),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 8
resetting RNG to seed 306583017
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > 0.3076470588235294)
current most likely hypothesis: 023_mug with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -0.6923529411764706)
current most likely hypothesis: 023_mug with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -1.6923529411764706)
current most likely hypothesis: 023_mug with evidence 3.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -2.6923529411764706)
current most likely hypothesis: 023_mug with evidence 5.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -3.6923529411764706)
current most likely hypothesis: 023_mug with evidence 4.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -4.692352941176471)
current most likely hypothesis: 023_mug with evidence 5.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -5.692352941176471)
current most likely hypothesis: 023_mug with evidence 4.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -6.692352941176471)
current most likely hypothesis: 023_mug with evidence 3.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -7.692352941176471)
current most likely hypothesis: 023_mug with evidence 2.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -8.69235294117647)
current most likely hypothesis: 023_mug with evidence 2.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -9.69235294117647)
current most likely hypothesis: 023_mug with evidence 1.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -10.69235294117647)
current most likely hypothesis: 023_mug with evidence 2.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -11.69235294117647)
current most likely hypothesis: 023_mug with evidence 1.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -12.69235294117647)
current most likely hypothesis: 023_mug with evidence 0.64
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1518 out of 1518 hypotheses for 023_mug (evidence > -13.69235294117647)
current most likely hypothesis: 023_mug with evidence -0.36
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 103 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 860 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 8 to 9 of 14
New primary target: {'euler_rotation': [325, 315, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.88111957, -0.27781593, -0.36497168, -0.11507513]),
 'rotation': (0.8811195706053617,
              -0.2778159334694408,
              -0.3649716762170988,
              -0.11507512748638386),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 9
resetting RNG to seed 583356519
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > 0.34501944907517706)
current most likely hypothesis: 023_mug with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -0.654980550924823)
current most likely hypothesis: 023_mug with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -1.654980550924823)
current most likely hypothesis: 023_mug with evidence 6.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -2.654980550924823)
current most likely hypothesis: 023_mug with evidence 5.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -3.654980550924823)
current most likely hypothesis: 023_mug with evidence 7.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -4.654980550924823)
current most likely hypothesis: 023_mug with evidence 6.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -5.654980550924823)
current most likely hypothesis: 023_mug with evidence 5.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -6.654980550924823)
current most likely hypothesis: 023_mug with evidence 7.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -7.654980550924823)
current most likely hypothesis: 023_mug with evidence 6.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -8.654980550924822)
current most likely hypothesis: 023_mug with evidence 5.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -9.654980550924822)
current most likely hypothesis: 023_mug with evidence 4.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -10.654980550924822)
current most likely hypothesis: 023_mug with evidence 5.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -11.654980550924822)
current most likely hypothesis: 023_mug with evidence 4.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -12.654980550924822)
current most likely hypothesis: 023_mug with evidence 3.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -13.654980550924822)
current most likely hypothesis: 023_mug with evidence 2.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -14.654980550924822)
current most likely hypothesis: 023_mug with evidence 2.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -15.654980550924822)
current most likely hypothesis: 023_mug with evidence 1.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -16.654980550924822)
current most likely hypothesis: 023_mug with evidence 0.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 023_mug (evidence > -17.654980550924822)
current most likely hypothesis: 023_mug with evidence -0.08
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Going into exploratory mode after 22 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 102 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 957 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 9 to 10 of 14
New primary target: {'euler_rotation': [35, 135, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168,  0.11507513,  0.88111957, -0.27781593]),
 'rotation': (0.3649716762170988,
              0.11507512748638377,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 10
resetting RNG to seed 1177517334
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > 0.29954936360509166)
current most likely hypothesis: 023_mug with evidence 2.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -0.7004506363949083)
current most likely hypothesis: 023_mug with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -1.7004506363949083)
current most likely hypothesis: 023_mug with evidence 3.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -2.7004506363949083)
current most likely hypothesis: 023_mug with evidence 5.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -3.7004506363949083)
current most likely hypothesis: 023_mug with evidence 7.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -4.700450636394908)
current most likely hypothesis: 023_mug with evidence 6.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -5.700450636394908)
current most likely hypothesis: 023_mug with evidence 5.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -6.700450636394908)
current most likely hypothesis: 023_mug with evidence 4.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -7.700450636394908)
current most likely hypothesis: 023_mug with evidence 3.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -8.700450636394908)
current most likely hypothesis: 023_mug with evidence 4.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -9.700450636394908)
current most likely hypothesis: 023_mug with evidence 6.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -10.700450636394908)
current most likely hypothesis: 023_mug with evidence 8.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -11.700450636394908)
current most likely hypothesis: 023_mug with evidence 7.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -12.700450636394908)
current most likely hypothesis: 023_mug with evidence 6.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -13.700450636394908)
current most likely hypothesis: 023_mug with evidence 5.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -14.700450636394908)
current most likely hypothesis: 023_mug with evidence 7.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -15.700450636394908)
current most likely hypothesis: 023_mug with evidence 6.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -16.70045063639491)
current most likely hypothesis: 023_mug with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -17.70045063639491)
current most likely hypothesis: 023_mug with evidence 4.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -18.70045063639491)
current most likely hypothesis: 023_mug with evidence 3.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -19.70045063639491)
current most likely hypothesis: 023_mug with evidence 5.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -20.70045063639491)
current most likely hypothesis: 023_mug with evidence 7.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -21.70045063639491)
current most likely hypothesis: 023_mug with evidence 9.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -22.70045063639491)
current most likely hypothesis: 023_mug with evidence 11.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -23.70045063639491)
current most likely hypothesis: 023_mug with evidence 10.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -24.70045063639491)
current most likely hypothesis: 023_mug with evidence 11.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -25.70045063639491)
current most likely hypothesis: 023_mug with evidence 13.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -26.70045063639491)
current most likely hypothesis: 023_mug with evidence 15.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -27.70045063639491)
current most likely hypothesis: 023_mug with evidence 14.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -28.70045063639491)
current most likely hypothesis: 023_mug with evidence 16.24
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -29.70045063639491)
current most likely hypothesis: 023_mug with evidence 18.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -30.70045063639491)
current most likely hypothesis: 023_mug with evidence 19.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1914 out of 1914 hypotheses for 023_mug (evidence > -31.70045063639491)
current most likely hypothesis: 023_mug with evidence 21.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
all possible locations are in radius 0.1 of [-0.04894801  1.51026254  0.02130462]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.049  1.51   0.021], rotation [ 34.883  44.834 179.839], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 34 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 86 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1039 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 10 to 11 of 14
New primary target: {'euler_rotation': [325, 135, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168,  0.11507513, -0.88111957, -0.27781593]),
 'rotation': (-0.36497167621709875,
              0.11507512748638385,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 11
resetting RNG to seed 111915506
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > 0.269188555925515)
current most likely hypothesis: 023_mug with evidence 2.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -0.7308114440744851)
current most likely hypothesis: 023_mug with evidence 4.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -1.730811444074485)
current most likely hypothesis: 023_mug with evidence 6.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -2.730811444074485)
current most likely hypothesis: 023_mug with evidence 5.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -3.730811444074485)
current most likely hypothesis: 023_mug with evidence 7.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -4.730811444074485)
current most likely hypothesis: 023_mug with evidence 6.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -5.730811444074485)
current most likely hypothesis: 023_mug with evidence 5.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -6.730811444074485)
current most likely hypothesis: 023_mug with evidence 7.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -7.730811444074485)
current most likely hypothesis: 023_mug with evidence 6.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -8.730811444074485)
current most likely hypothesis: 023_mug with evidence 5.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -9.730811444074485)
current most likely hypothesis: 023_mug with evidence 4.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -10.730811444074485)
current most likely hypothesis: 023_mug with evidence 3.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -11.730811444074485)
current most likely hypothesis: 023_mug with evidence 2.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -12.730811444074485)
current most likely hypothesis: 023_mug with evidence 4.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -13.730811444074485)
current most likely hypothesis: 023_mug with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -14.730811444074485)
current most likely hypothesis: 023_mug with evidence 4.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -15.730811444074485)
current most likely hypothesis: 023_mug with evidence 3.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -16.730811444074483)
current most likely hypothesis: 023_mug with evidence 2.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -17.730811444074483)
current most likely hypothesis: 023_mug with evidence 1.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -18.730811444074483)
current most likely hypothesis: 023_mug with evidence 0.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2078 out of 2078 hypotheses for 023_mug (evidence > -19.730811444074483)
current most likely hypothesis: 023_mug with evidence -0.42
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Going into exploratory mode after 24 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 92 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1125 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 11 to 12 of 14
New primary target: {'euler_rotation': [35, 225, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([-0.36497168, -0.11507513,  0.88111957, -0.27781593]),
 'rotation': (-0.3649716762170987,
              -0.11507512748638374,
              0.8811195706053617,
              -0.27781593346944056),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 12
resetting RNG to seed 1538901097
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > 0.36964892991136494)
current most likely hypothesis: 023_mug with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -0.630351070088635)
current most likely hypothesis: 023_mug with evidence 4.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -1.630351070088635)
current most likely hypothesis: 023_mug with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -2.630351070088635)
current most likely hypothesis: 023_mug with evidence 5.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -3.630351070088635)
current most likely hypothesis: 023_mug with evidence 7.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -4.630351070088635)
current most likely hypothesis: 023_mug with evidence 6.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -5.630351070088635)
current most likely hypothesis: 023_mug with evidence 5.61
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -6.630351070088635)
current most likely hypothesis: 023_mug with evidence 4.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -7.630351070088635)
current most likely hypothesis: 023_mug with evidence 3.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -8.630351070088635)
current most likely hypothesis: 023_mug with evidence 2.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -9.630351070088635)
current most likely hypothesis: 023_mug with evidence 1.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -10.630351070088635)
current most likely hypothesis: 023_mug with evidence 3.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -11.630351070088635)
current most likely hypothesis: 023_mug with evidence 2.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -12.630351070088635)
current most likely hypothesis: 023_mug with evidence 1.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -13.630351070088635)
current most likely hypothesis: 023_mug with evidence 3.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -14.630351070088635)
current most likely hypothesis: 023_mug with evidence 4.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -15.630351070088635)
current most likely hypothesis: 023_mug with evidence 3.83
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -16.630351070088636)
current most likely hypothesis: 023_mug with evidence 2.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -17.630351070088636)
current most likely hypothesis: 023_mug with evidence 4.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -18.630351070088636)
current most likely hypothesis: 023_mug with evidence 6.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -19.630351070088636)
current most likely hypothesis: 023_mug with evidence 5.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -20.630351070088636)
current most likely hypothesis: 023_mug with evidence 4.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -21.630351070088636)
current most likely hypothesis: 023_mug with evidence 3.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -22.630351070088636)
current most likely hypothesis: 023_mug with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -23.630351070088636)
current most likely hypothesis: 023_mug with evidence 4.28
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -24.630351070088636)
current most likely hypothesis: 023_mug with evidence 6.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -25.630351070088636)
current most likely hypothesis: 023_mug with evidence 7.74
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -26.630351070088636)
current most likely hypothesis: 023_mug with evidence 6.74
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -27.630351070088636)
current most likely hypothesis: 023_mug with evidence 5.74
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -28.630351070088636)
current most likely hypothesis: 023_mug with evidence 7.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -29.630351070088636)
current most likely hypothesis: 023_mug with evidence 8.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -30.630351070088636)
current most likely hypothesis: 023_mug with evidence 7.63
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -31.630351070088636)
current most likely hypothesis: 023_mug with evidence 6.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -32.630351070088636)
current most likely hypothesis: 023_mug with evidence 8.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -33.630351070088636)
current most likely hypothesis: 023_mug with evidence 10.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -34.630351070088636)
current most likely hypothesis: 023_mug with evidence 12.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -35.630351070088636)
current most likely hypothesis: 023_mug with evidence 11.2
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -36.630351070088636)
current most likely hypothesis: 023_mug with evidence 10.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -37.630351070088636)
current most likely hypothesis: 023_mug with evidence 9.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -38.630351070088636)
current most likely hypothesis: 023_mug with evidence 11.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -39.630351070088636)
current most likely hypothesis: 023_mug with evidence 12.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -40.630351070088636)
current most likely hypothesis: 023_mug with evidence 14.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -41.630351070088636)
current most likely hypothesis: 023_mug with evidence 13.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -42.630351070088636)
current most likely hypothesis: 023_mug with evidence 15.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -43.630351070088636)
current most likely hypothesis: 023_mug with evidence 14.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -44.630351070088636)
current most likely hypothesis: 023_mug with evidence 13.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -45.630351070088636)
current most likely hypothesis: 023_mug with evidence 12.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -46.630351070088636)
current most likely hypothesis: 023_mug with evidence 13.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -47.630351070088636)
current most likely hypothesis: 023_mug with evidence 15.14
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -48.630351070088636)
current most likely hypothesis: 023_mug with evidence 16.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -49.630351070088636)
current most likely hypothesis: 023_mug with evidence 18.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > -50.630351070088636)
current most likely hypothesis: 023_mug with evidence 20.78
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
all possible locations are in radius 0.1 of [0.02459177 1.53584015 0.02128753]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.025 1.536 0.021], rotation [ 35.049 314.929 179.932], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 57 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 108 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1222 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 12 to 13 of 14
New primary target: {'euler_rotation': [325, 225, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([ 0.36497168, -0.11507513, -0.88111957, -0.27781593]),
 'rotation': (0.3649716762170987,
              -0.11507512748638382,
              -0.8811195706053617,
              -0.2778159334694408),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
Running a simulation to model object: 023_mug
running train epoch 0 train episode 13
resetting RNG to seed 678633877
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > 0.2589661319073082)
current most likely hypothesis: 023_mug with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -0.7410338680926918)
current most likely hypothesis: 023_mug with evidence 4.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -1.7410338680926918)
current most likely hypothesis: 023_mug with evidence 6.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -2.741033868092692)
current most likely hypothesis: 023_mug with evidence 5.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -3.741033868092692)
current most likely hypothesis: 023_mug with evidence 4.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -4.741033868092692)
current most likely hypothesis: 023_mug with evidence 3.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -5.741033868092692)
current most likely hypothesis: 023_mug with evidence 5.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -6.741033868092692)
current most likely hypothesis: 023_mug with evidence 4.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -7.741033868092692)
current most likely hypothesis: 023_mug with evidence 6.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -8.741033868092693)
current most likely hypothesis: 023_mug with evidence 5.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -9.741033868092693)
current most likely hypothesis: 023_mug with evidence 4.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -10.741033868092693)
current most likely hypothesis: 023_mug with evidence 6.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -11.741033868092693)
current most likely hypothesis: 023_mug with evidence 7.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -12.741033868092693)
current most likely hypothesis: 023_mug with evidence 9.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -13.741033868092693)
current most likely hypothesis: 023_mug with evidence 11.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -14.741033868092693)
current most likely hypothesis: 023_mug with evidence 12.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -15.741033868092693)
current most likely hypothesis: 023_mug with evidence 11.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -16.741033868092693)
current most likely hypothesis: 023_mug with evidence 13.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -17.741033868092693)
current most likely hypothesis: 023_mug with evidence 15.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -18.741033868092693)
current most likely hypothesis: 023_mug with evidence 16.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -19.741033868092693)
current most likely hypothesis: 023_mug with evidence 15.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -20.741033868092693)
current most likely hypothesis: 023_mug with evidence 17.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -21.741033868092693)
current most likely hypothesis: 023_mug with evidence 19.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2444 out of 2444 hypotheses for 023_mug (evidence > -22.741033868092693)
current most likely hypothesis: 023_mug with evidence 21.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
all possible locations are in radius 0.1 of [0.01082701 1.49850551 0.03571868]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.011 1.499 0.036], rotation [324.855 314.79  180.205], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 30 steps

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 102 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1315 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

---Updating memory of learning_module_1---
no match found in time, not updating memory


Going from 13 to 0 of 14
New primary target: {'euler_rotation': [0, 0, 0],
 'object': '023_mug',
 'position': (0.0, 1.5, 0.0),
 'quat_rotation': array([1., 0., 0., 0.]),
 'rotation': (1.0, 0.0, 0.0, 0.0),
 'scale': (1.0, 1.0, 1.0),
 'semantic_id': 1}
saving model to /home/hlee/tbp/results/compositional_pretraining_20260630/supervised_pre_training_objects_with_stickers_3d_children/supervised_pre_training_objects_with_stickers_3d_children-parallel_train_episode_023_mug/pretrained
