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}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x771a635d3e50>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x771a635d38e0>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x771a6362a3d0>, 'learning_module_2': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x771a635cc160>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x771a636aec40>, 'sensor_module_1': <tbp.monty.frameworks.models.two_d_sensor_module.TwoDSensorModule object at 0x771a636dddc0>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x771a636bad30>, 'sensor_module_3': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x771a63685910>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'patch_2': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1], [2]], 'lm_to_lm_matrix': [[], [], [0, 1]], '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': '/mnt/results/TBP/data/habitat/versioned_data/compositional_objects_1.4', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'patch_2', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [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], [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], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False, False], 'zooms': [10.0, 30.0, 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.GaussianBlurRGB object at 0x771a635095e0>, <tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x771a63509700>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x771a63509730>]}, 'train_env_interface_args': {'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 0x771a6351de20>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x771a634c1130>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x771a634c1040>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'match_criterion': <tbp.monty.experiment.match_criteria.AnyLMsMatch object at 0x771a634c1e20>, 'logging': {'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_001_cube/pretrained'), 'monty_data_logger': <tbp.monty.frameworks.loggers.exp_logger.BaseMontyLogger object at 0x771a634c6580>, 'run_name': 'supervised_pre_training_cows_3d_children-parallel_train_episode_001_cube', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', '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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- 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 0x771a4c47d700>
Added new graph with id 001_cube to memory.
Model for 001_cube:
   Contains 98 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 32 out of 32 hypotheses for 001_cube (evidence > 0.98901699205272)
current most likely hypothesis: 001_cube with evidence 2.49
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 64 out of 64 hypotheses for 001_cube (evidence > 0.989113559055127)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 001_cube (evidence > -0.01088644094487301)
current most likely hypothesis: 001_cube with evidence 5.42
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00180521  1.49769618  0.0499995 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 128 out of 128 hypotheses for 001_cube (evidence > -1.010886440944873)
current most likely hypothesis: 001_cube with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00180521  1.49769618  0.04999964]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00180521  1.49769618  0.04999974]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 001_cube (evidence > -2.010886440944873)
current most likely hypothesis: 001_cube with evidence 8.39
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [1.22473450e-06 1.49853630e+00 4.99967487e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 145 out of 145 hypotheses for 001_cube (evidence > -3.010886440944873)
current most likely hypothesis: 001_cube with evidence 9.85
current most likely hypothesis: 001_cube with evidence 9.85
current most likely hypothesis: 001_cube with evidence 9.85
current most likely hypothesis: 001_cube with evidence 9.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-2.62799765e-04  1.49883424e+00  4.99973119e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 130 out of 130 hypotheses for 001_cube (evidence > -0.5604138585519047)
current most likely hypothesis: 001_cube with evidence 11.34
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [1.39172442e-03 1.50004746e+00 4.99944602e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 121 out of 121 hypotheses for 001_cube (evidence > -0.5723899355155782)
current most likely hypothesis: 001_cube with evidence 12.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [8.02260349e-04 1.50009201e+00 4.99975046e-02]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 23 24
 25 26 27 28 29 31]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.019 1.476 0.05 ], rotation [  0.144   0.28  120.805], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 102 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 200 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 80 out of 80 hypotheses for 001_cube (evidence > 0.9577317870171408)
current most likely hypothesis: 001_cube with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 001_cube (evidence > -0.04226821298285921)
current most likely hypothesis: 001_cube with evidence 3.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 001_cube (evidence > -1.0422682129828593)
current most likely hypothesis: 001_cube with evidence 5.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01325792  1.50322988  0.02793425]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 001_cube (evidence > -1.0120682748419239)
current most likely hypothesis: 001_cube with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.0110061   1.50168197  0.02904052]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 390 out of 390 hypotheses for 001_cube (evidence > -2.0120682748419236)
current most likely hypothesis: 001_cube with evidence 8.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01055878  1.50032879  0.03120696]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 366 out of 366 hypotheses for 001_cube (evidence > -3.0120682748419236)
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0084647   1.49924414  0.0340017 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 348 out of 348 hypotheses for 001_cube (evidence > -3.0076743718714805)
current most likely hypothesis: 001_cube with evidence 11.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00887439  1.49924004  0.03400392]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 334 out of 334 hypotheses for 001_cube (evidence > -3.0109933201922527)
current most likely hypothesis: 001_cube with evidence 12.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00744522  1.4979291   0.03337468]
added symmetry evidence
Symmetry detected for hypotheses [ 1  2  3  4  5  8 10 11 12 13 14 16 18 19 20 21 22 24 25 26 27 28 29 30
 31 33 34 35 36 37 38 39 41 42 43 44 45 47 48 49 51 52 53 56 57 58 59 60
 61 62 64]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.484 -0.011], rotation [108.081  89.765 343.041], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 299 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 001_cube (evidence > 0.9839846454836196)
current most likely hypothesis: 001_cube with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 001_cube (evidence > -0.013733635866815752)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 360 out of 360 hypotheses for 001_cube (evidence > -1.0137336358668159)
current most likely hypothesis: 001_cube with evidence 5.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01948004  1.49426514 -0.01304673]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 001_cube (evidence > -1.0164797018674512)
current most likely hypothesis: 001_cube with evidence 6.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.02040932  1.49451669 -0.01294338]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 597 out of 597 hypotheses for 001_cube (evidence > -2.016479701867451)
current most likely hypothesis: 001_cube with evidence 8.43
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.02142047  1.49444461 -0.01283259]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 578 out of 578 hypotheses for 001_cube (evidence > -3.016479701867451)
current most likely hypothesis: 001_cube with evidence 9.92
current most likely hypothesis: 001_cube with evidence 9.92
current most likely hypothesis: 001_cube with evidence 9.92
current most likely hypothesis: 001_cube with evidence 9.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.02260269  1.49460487 -0.01271466]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 561 out of 561 hypotheses for 001_cube (evidence > -3.008437092583687)
current most likely hypothesis: 001_cube with evidence 11.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.02307341  1.49558164 -0.01297944]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 541 out of 541 hypotheses for 001_cube (evidence > -3.0074306500226156)
current most likely hypothesis: 001_cube with evidence 12.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.02307326  1.49558164 -0.01297934]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   7   9  10  11  12  13  14  15  16  17  18  19  22
  24  25  26  27  28  29  30  31  32  33  34  36  38  39  40  41  42  43
  44  45  46  47  48  51  53  54  55  56  57  58  59  60  61  62  63  65
  67  68  69  70  71  72  73  74  75  76  77  79  81  82  83  84  85  86
  87  88  89  90  91  93  95  96  97  98  99 100 101 102 103 104 105 108
 110 111 112 113 114 115]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-5.000e-02  1.481e+00  1.000e-03], rotation [133.944  89.699   0.812], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 398 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 152 out of 152 hypotheses for 001_cube (evidence > 0.9876389481766988)
current most likely hypothesis: 001_cube with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 304 out of 304 hypotheses for 001_cube (evidence > -0.012361051823301161)
current most likely hypothesis: 001_cube with evidence 3.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 001_cube (evidence > -1.012361051823301)
current most likely hypothesis: 001_cube with evidence 5.44
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 3.90262424e-03  1.48580557e+00 -5.88364601e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 608 out of 608 hypotheses for 001_cube (evidence > -2.0072552197117006)
current most likely hypothesis: 001_cube with evidence 6.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 5.20473663e-03  1.48598456e+00 -1.06746231e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 735 out of 735 hypotheses for 001_cube (evidence > -3.0072552197117006)
current most likely hypothesis: 001_cube with evidence 8.39
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [5.32728556e-03 1.48533181e+00 6.43998991e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 695 out of 695 hypotheses for 001_cube (evidence > -3.0193707578199542)
current most likely hypothesis: 001_cube with evidence 9.89
current most likely hypothesis: 001_cube with evidence 9.89
current most likely hypothesis: 001_cube with evidence 9.89
current most likely hypothesis: 001_cube with evidence 9.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [ 5.66447370e-03  1.48584966e+00 -4.84720235e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 670 out of 670 hypotheses for 001_cube (evidence > -3.0122703863787543)
current most likely hypothesis: 001_cube with evidence 11.37
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [5.78723018e-03 1.48573719e+00 7.72680320e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 634 out of 634 hypotheses for 001_cube (evidence > -3.0065958359865257)
current most likely hypothesis: 001_cube with evidence 12.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [ 6.47009559e-03  1.48601418e+00 -4.73882729e-05]
added symmetry evidence
Symmetry detected for hypotheses [  1   3   4   5   6   7   9  10  11  12  13  14  15  17  19  20  21  22
  23  25  26  27  28  29  31  32  33  35  36  37  39  40  41  42  43  44
  46  47  48  50  51  52  53  54  55  56  57  58  59  60  61  62  64  65
  66  68  69  70  71  72  73  74  75  76  78  79  80  81  82  83  84  85
  86  87  88  89  91  92  93  94  96  97  98  99 100 102 103 105 107 108
 109 110 111 113 114 115 116 117 118 119]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.028 1.531 0.05 ], rotation [3.59856e+02 2.80000e-01 3.21930e+02], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 493 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 001_cube (evidence > 0.9843489132802764)
current most likely hypothesis: 001_cube with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 001_cube (evidence > -0.015651086719723595)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 576 out of 576 hypotheses for 001_cube (evidence > -1.0156510867197235)
current most likely hypothesis: 001_cube with evidence 5.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 7.13438623e-04  1.49665323e+00 -6.32960982e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 768 out of 768 hypotheses for 001_cube (evidence > -2.01538938277155)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 0.00167966  1.49686023 -0.00566385]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 940 out of 940 hypotheses for 001_cube (evidence > -3.01538938277155)
current most likely hypothesis: 001_cube with evidence 8.42
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [ 0.00267919  1.49646539 -0.00549711]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 905 out of 905 hypotheses for 001_cube (evidence > -3.032555401427756)
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
current most likely hypothesis: 001_cube with evidence 9.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [ 0.00371951  1.49611629 -0.00525901]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 855 out of 855 hypotheses for 001_cube (evidence > -3.010470564631475)
current most likely hypothesis: 001_cube with evidence 11.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [ 0.00371953  1.49611627 -0.00525899]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 815 out of 815 hypotheses for 001_cube (evidence > -3.0102268295959)
current most likely hypothesis: 001_cube with evidence 12.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [ 0.00371954  1.49611626 -0.00525897]
added symmetry evidence
Symmetry detected for hypotheses [  1   2   3   4   5   6   7   8   9  10  11  13  14  15  16  17  18  19
  20  22  23  24  25  26  27  28  29  30  31  32  34  36  37  38  39  40
  41  42  43  44  45  46  47  48  49  50  51  52  53  55  56  57  58  59
  60  61  62  64  65  66  67  68  69  70  71  72  73  74  75  76  77  78
  79  80  81  82  83  84  85  86  87  88  89  90  91  92  93  95  96  97
  98  99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 115 117
 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135
 137 138 139 140 141 142 143 145 146 147 148 149 150 151 152 153 154 155
 156 158 159 160 161 162 163 164]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.023 1.5   0.05 ], rotation [  0.      0.389 226.766], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 587 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 232 out of 232 hypotheses for 001_cube (evidence > 0.9624477187311001)
current most likely hypothesis: 001_cube with evidence 2.06
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 466 out of 466 hypotheses for 001_cube (evidence > 0.5752103364358521)
current most likely hypothesis: 001_cube with evidence 3.51
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 698 out of 698 hypotheses for 001_cube (evidence > 0.9603069778963869)
current most likely hypothesis: 001_cube with evidence 4.97
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 0.00449353  1.48330527 -0.0031282 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 0.00449535  1.48330334 -0.00312284]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 930 out of 930 hypotheses for 001_cube (evidence > -0.039070176314713656)
current most likely hypothesis: 001_cube with evidence 6.44
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [ 0.00354652  1.48492459 -0.0024135 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [ 0.00362016  1.48479323 -0.00254151]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1162 out of 1162 hypotheses for 001_cube (evidence > -1.0390701763147137)
current most likely hypothesis: 001_cube with evidence 7.91
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [ 0.00377038  1.48453436 -0.0025592 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [ 0.00383253  1.48443089 -0.00246963]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1140 out of 1140 hypotheses for 001_cube (evidence > -2.0390701763147137)
current most likely hypothesis: 001_cube with evidence 8.91
current most likely hypothesis: 001_cube with evidence 8.91
current most likely hypothesis: 001_cube with evidence 8.91
current most likely hypothesis: 001_cube with evidence 8.91
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [ 0.00363262  1.4842329  -0.00257433]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1112 out of 1112 hypotheses for 001_cube (evidence > -2.0338848656344015)
current most likely hypothesis: 001_cube with evidence 9.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [ 0.00405448  1.48472822 -0.00165157]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 2.3166 >= 1.0 (tangent_projection=0.003914, curvature=-591.825054)
Sending input from ['patch_0'] to learning_module_0
Testing 1062 out of 1062 hypotheses for 001_cube (evidence > -3.0338848656344015)
current most likely hypothesis: 001_cube with evidence 10.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [ 0.00439818  1.48517347 -0.00163564]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   5   6   7   8   9  10  11  13  14  16  17  18  19  20
  21  22  23  24  25  26  29  30  31  32  33  34  35  36  37  38  39  40
  41  43  45  46  47  48  49  50  51  52  53  54  55  58  59  60  61  62
  63  64  65  66  67  68  69  70  72  74  75  76  77  78  79  80  81  82
  83  84  85  86  87  88  89  90  91  92  93  94  95  96  97  98  99 100
 101 102 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119
 121 122 123 124 126 127 129 130 133 134 135 136 137 138 139 140 141 142
 144 145 146 147 148 151 152 153 156 159 160 161 162 163 164 165 166 168
 169 170 171 172 174 175 176 177 179 180 181 182 184 185 186 188 189 191
 192 193 194 195 197 198 199 200 201 203 204 205 206 207 208 209 210 212
 213 214 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.01  1.45  0.05], rotation [320.807 337.458  65.256], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 12 steps
Arc correction skipped: |k*p| = 1.0089 >= 1.0 (tangent_projection=0.005349, curvature=-188.615853)

---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 689 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 272 out of 272 hypotheses for 001_cube (evidence > 0.9777338734145754)
current most likely hypothesis: 001_cube with evidence 2.74
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 548 out of 548 hypotheses for 001_cube (evidence > 0.5914993947269374)
current most likely hypothesis: 001_cube with evidence 4.24
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 001_cube (evidence > 0.5662789889652929)
current most likely hypothesis: 001_cube with evidence 5.6
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.04996048  1.5223405   0.04362578]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1096 out of 1096 hypotheses for 001_cube (evidence > 0.7138331049057858)
current most likely hypothesis: 001_cube with evidence 7.09
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.04984042  1.52638099  0.04350367]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1368 out of 1368 hypotheses for 001_cube (evidence > -0.28502883824578296)
current most likely hypothesis: 001_cube with evidence 8.58
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.04989152  1.52296673  0.03382044]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1344 out of 1344 hypotheses for 001_cube (evidence > -1.285028838245783)
current most likely hypothesis: 001_cube with evidence 10.06
current most likely hypothesis: 001_cube with evidence 10.06
current most likely hypothesis: 001_cube with evidence 10.06
current most likely hypothesis: 001_cube with evidence 10.06
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.05002887  1.51070185  0.03275875]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1290 out of 1290 hypotheses for 001_cube (evidence > -1.2908901897608434)
current most likely hypothesis: 001_cube with evidence 11.53
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.05007331  1.50696659  0.03870113]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1261 out of 1261 hypotheses for 001_cube (evidence > -2.026991077521136)
current most likely hypothesis: 001_cube with evidence 13.03
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.0500735   1.50927577  0.04010852]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 1.8271 >= 1.0 (tangent_projection=0.002956, curvature=-618.040455)
Sending input from ['patch_0'] to learning_module_0
Testing 1217 out of 1217 hypotheses for 001_cube (evidence > -3.026991077521136)
current most likely hypothesis: 001_cube with evidence 14.01
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.0500589   1.50975174  0.04157333]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1216 out of 1216 hypotheses for 001_cube (evidence > 2.315811269233257)
current most likely hypothesis: 001_cube with evidence 15.21
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.04728404  1.51446006  0.04750687]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1214 out of 1214 hypotheses for 001_cube (evidence > 2.6302629931985644)
current most likely hypothesis: 001_cube with evidence 16.39
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.04216982  1.51128517  0.0514017 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1206 out of 1206 hypotheses for 001_cube (evidence > 3.0923206791504105)
current most likely hypothesis: 001_cube with evidence 18.05
current most likely hypothesis: 001_cube with evidence 18.05
current most likely hypothesis: 001_cube with evidence 18.05
current most likely hypothesis: 001_cube with evidence 18.05
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.04955528  1.52008642  0.0516826 ]
added symmetry evidence
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.521  0.052], rotation [299.538  45.593   0.599], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 13 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 786 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 312 out of 312 hypotheses for 001_cube (evidence > 0.9832384607380055)
current most likely hypothesis: 001_cube with evidence 2.5
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 626 out of 626 hypotheses for 001_cube (evidence > 0.5930707903371129)
current most likely hypothesis: 001_cube with evidence 3.98
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 938 out of 938 hypotheses for 001_cube (evidence > 0.9900803854922009)
current most likely hypothesis: 001_cube with evidence 5.46
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1250 out of 1250 hypotheses for 001_cube (evidence > -0.009919614507799102)
current most likely hypothesis: 001_cube with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1562 out of 1562 hypotheses for 001_cube (evidence > -1.009919614507799)
current most likely hypothesis: 001_cube with evidence 8.18
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [7.00844285e-03 1.47589520e+00 1.32041688e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1562 out of 1562 hypotheses for 001_cube (evidence > -2.0099196145077993)
current most likely hypothesis: 001_cube with evidence 9.38
current most likely hypothesis: 001_cube with evidence 9.38
current most likely hypothesis: 001_cube with evidence 9.38
current most likely hypothesis: 001_cube with evidence 9.38
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [0.00605096 1.47624998 0.00206805]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 1.7906 >= 1.0 (tangent_projection=-0.002961, curvature=-604.751827)
Sending input from ['patch_0'] to learning_module_0
Testing 1540 out of 1540 hypotheses for 001_cube (evidence > -2.0124787266651687)
current most likely hypothesis: 001_cube with evidence 11.07
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.05002297  1.47367661  0.04755909]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.469  0.05 ], rotation [325.465  44.995 179.997], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 8 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 885 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 352 out of 352 hypotheses for 001_cube (evidence > 0.9620903934712175)
current most likely hypothesis: 001_cube with evidence 2.81
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 706 out of 706 hypotheses for 001_cube (evidence > 0.5989780620147251)
current most likely hypothesis: 001_cube with evidence 4.3
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1058 out of 1058 hypotheses for 001_cube (evidence > 0.9851365587945417)
current most likely hypothesis: 001_cube with evidence 5.78
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.01540789 1.51470097 0.04253308]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1410 out of 1410 hypotheses for 001_cube (evidence > -0.01486344120545835)
current most likely hypothesis: 001_cube with evidence 7.25
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [0.02213637 1.49486356 0.02633132]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1762 out of 1762 hypotheses for 001_cube (evidence > -1.0148634412054585)
current most likely hypothesis: 001_cube with evidence 8.95
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [0.01908056 1.51081724 0.04572226]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1753 out of 1753 hypotheses for 001_cube (evidence > -1.0217882790860962)
current most likely hypothesis: 001_cube with evidence 9.74
current most likely hypothesis: 001_cube with evidence 9.74
current most likely hypothesis: 001_cube with evidence 9.74
current most likely hypothesis: 001_cube with evidence 9.74
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [0.02325881 1.51602162 0.04631244]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 2.2095 >= 1.0 (tangent_projection=-0.003752, curvature=-588.925490)
Sending input from ['patch_0'] to learning_module_0
Testing 1710 out of 1710 hypotheses for 001_cube (evidence > -2.0217882790860964)
current most likely hypothesis: 001_cube with evidence 10.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [0.00595478 1.51451684 0.04675437]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1671 out of 1671 hypotheses for 001_cube (evidence > -3.0217882790860964)
current most likely hypothesis: 001_cube with evidence 12.25
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.0047045   1.51814791  0.04611978]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1630 out of 1630 hypotheses for 001_cube (evidence > -1.0607286774014906)
current most likely hypothesis: 001_cube with evidence 13.69
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [0.00476158 1.51008676 0.04353325]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1627 out of 1627 hypotheses for 001_cube (evidence > 2.349260907880949)
current most likely hypothesis: 001_cube with evidence 15.16
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.00690297 1.5112435  0.04173665]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [0.00736507 1.51224792 0.04020738]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1621 out of 1621 hypotheses for 001_cube (evidence > 2.9550956436060476)
current most likely hypothesis: 001_cube with evidence 16.62
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [0.00457948 1.51476388 0.03559877]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [0.00527037 1.51600867 0.03281146]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1620 out of 1620 hypotheses for 001_cube (evidence > 4.5151848352764095)
current most likely hypothesis: 001_cube with evidence 18.1
current most likely hypothesis: 001_cube with evidence 18.1
current most likely hypothesis: 001_cube with evidence 18.1
current most likely hypothesis: 001_cube with evidence 18.1
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-4.52881254e-04  1.51369629e+00  3.84782300e-02]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-1.07311906e-03  1.51359023e+00  4.10617447e-02]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1611 out of 1611 hypotheses for 001_cube (evidence > 3.5151848352764095)
current most likely hypothesis: 001_cube with evidence 19.5
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.00774624  1.50749142  0.04563268]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1593 out of 1593 hypotheses for 001_cube (evidence > 5.216878717075904)
current most likely hypothesis: 001_cube with evidence 20.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.00799569  1.50911442  0.04864061]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1582 out of 1582 hypotheses for 001_cube (evidence > 6.088533485313709)
current most likely hypothesis: 001_cube with evidence 22.5
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.01388407  1.50947779  0.05070564]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1576 out of 1576 hypotheses for 001_cube (evidence > 7.262698397835994)
current most likely hypothesis: 001_cube with evidence 23.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
all possible locations are in radius 0.1 of [-0.01504365  1.51044775  0.05021398]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1563 out of 1563 hypotheses for 001_cube (evidence > 7.581489691077012)
current most likely hypothesis: 001_cube with evidence 25.27
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [-0.00855054  1.51892089  0.04792946]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1507 out of 1507 hypotheses for 001_cube (evidence > 7.950607496404727)
current most likely hypothesis: 001_cube with evidence 26.64
current most likely hypothesis: 001_cube with evidence 26.64
current most likely hypothesis: 001_cube with evidence 26.64
current most likely hypothesis: 001_cube with evidence 26.64
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [-0.01788849  1.51810607  0.04753187]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1176 out of 1176 hypotheses for 001_cube (evidence > 7.731687999627713)
current most likely hypothesis: 001_cube with evidence 28.46
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [-0.02586431  1.51824672  0.04815985]
added symmetry evidence
Symmetry detected for hypotheses [ 11  24 209 224 409 466 467 482 484]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.045  1.538  0.05 ], rotation [ 37.601  45.019 179.795], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 23 steps
Arc correction skipped: |k*p| = 1.2251 >= 1.0 (tangent_projection=0.111608, curvature=-10.976460)

---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 976 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 001_cube (evidence > 0.9841879134283211)
current most likely hypothesis: 001_cube with evidence 2.83
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 774 out of 774 hypotheses for 001_cube (evidence > 0.6067691912784274)
current most likely hypothesis: 001_cube with evidence 4.3
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1158 out of 1158 hypotheses for 001_cube (evidence > 0.9800173648485597)
current most likely hypothesis: 001_cube with evidence 5.78
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.02982622 1.49167658 0.0373036 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1542 out of 1542 hypotheses for 001_cube (evidence > -0.019411770354402003)
current most likely hypothesis: 001_cube with evidence 7.27
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [0.02700408 1.48679534 0.01986229]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1926 out of 1926 hypotheses for 001_cube (evidence > -1.019411770354402)
current most likely hypothesis: 001_cube with evidence 8.87
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [0.01868816 1.48721983 0.04335576]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1920 out of 1920 hypotheses for 001_cube (evidence > -1.0189743168756107)
current most likely hypothesis: 001_cube with evidence 10.27
current most likely hypothesis: 001_cube with evidence 10.27
current most likely hypothesis: 001_cube with evidence 10.27
current most likely hypothesis: 001_cube with evidence 10.27
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [0.03678025 1.496248   0.04722961]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 2.2095 >= 1.0 (tangent_projection=-0.003752, curvature=-588.923933)
Sending input from ['patch_0'] to learning_module_0
Testing 1884 out of 1884 hypotheses for 001_cube (evidence > -2.0189743168756107)
current most likely hypothesis: 001_cube with evidence 11.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [0.05003689 1.47832103 0.04473983]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1834 out of 1834 hypotheses for 001_cube (evidence > -3.0189743168756107)
current most likely hypothesis: 001_cube with evidence 13.22
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [0.05006208 1.48680294 0.0434262 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1785 out of 1785 hypotheses for 001_cube (evidence > -0.9823749312140175)
current most likely hypothesis: 001_cube with evidence 14.86
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [0.05006997 1.47958417 0.04388658]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1781 out of 1781 hypotheses for 001_cube (evidence > 2.03625257845611)
current most likely hypothesis: 001_cube with evidence 16.32
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.03055322 1.48895723 0.0419776 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [0.03089983 1.49080091 0.03937173]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1766 out of 1766 hypotheses for 001_cube (evidence > 2.521547658703037)
current most likely hypothesis: 001_cube with evidence 17.81
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [0.03178897 1.49539157 0.03264277]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [0.03239025 1.49841872 0.02806749]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1763 out of 1763 hypotheses for 001_cube (evidence > 3.1333759105488523)
current most likely hypothesis: 001_cube with evidence 19.3
current most likely hypothesis: 001_cube with evidence 19.3
current most likely hypothesis: 001_cube with evidence 19.3
current most likely hypothesis: 001_cube with evidence 19.3
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [0.02665009 1.50715342 0.03266261]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [0.02647837 1.50902638 0.03527826]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1755 out of 1755 hypotheses for 001_cube (evidence > 4.611896159655927)
current most likely hypothesis: 001_cube with evidence 20.79
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [0.02027852 1.50296933 0.04004868]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1745 out of 1745 hypotheses for 001_cube (evidence > 6.376188255670199)
current most likely hypothesis: 001_cube with evidence 22.33
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [0.02524849 1.49530328 0.04701218]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1736 out of 1736 hypotheses for 001_cube (evidence > 8.163467777899948)
current most likely hypothesis: 001_cube with evidence 24.17
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [0.03983535 1.49094201 0.04967553]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1733 out of 1733 hypotheses for 001_cube (evidence > 7.261928620296709)
current most likely hypothesis: 001_cube with evidence 25.59
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
all possible locations are in radius 0.1 of [0.03187894 1.49134181 0.05053407]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1719 out of 1719 hypotheses for 001_cube (evidence > 8.172305909381585)
current most likely hypothesis: 001_cube with evidence 27.03
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [0.02382694 1.49342103 0.05005732]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1634 out of 1634 hypotheses for 001_cube (evidence > 8.104190388103431)
current most likely hypothesis: 001_cube with evidence 28.46
current most likely hypothesis: 001_cube with evidence 28.46
current most likely hypothesis: 001_cube with evidence 28.46
current most likely hypothesis: 001_cube with evidence 28.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [0.02967089 1.48755725 0.04981367]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1351 out of 1351 hypotheses for 001_cube (evidence > 7.796889051339594)
current most likely hypothesis: 001_cube with evidence 30.09
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [0.02497761 1.48702225 0.04961153]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 24 ---
all possible locations are in radius 0.1 of [0.0272072  1.48479015 0.04948897]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1263 out of 1263 hypotheses for 001_cube (evidence > 8.114211550417982)
current most likely hypothesis: 001_cube with evidence 31.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 25 ---
all possible locations are in radius 0.1 of [0.02001632 1.48791687 0.0484504 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 433 out of 433 hypotheses for 001_cube (evidence > 9.472595267242484)
current most likely hypothesis: 001_cube with evidence 32.89
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 26 ---
all possible locations are in radius 0.1 of [0.02274474 1.48684964 0.04649358]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 382 out of 382 hypotheses for 001_cube (evidence > 10.307930317738707)
current most likely hypothesis: 001_cube with evidence 34.21
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 27 ---
all possible locations are in radius 0.1 of [0.02274758 1.48579533 0.04473255]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 28 ---
all possible locations are in radius 0.1 of [0.02274161 1.4874102  0.03823022]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 349 out of 349 hypotheses for 001_cube (evidence > 12.234411906835707)
current most likely hypothesis: 001_cube with evidence 35.7
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 29 ---
all possible locations are in radius 0.1 of [0.01667138 1.49348169 0.03408751]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 337 out of 337 hypotheses for 001_cube (evidence > 17.048815078586262)
current most likely hypothesis: 001_cube with evidence 37.17
current most likely hypothesis: 001_cube with evidence 37.17
current most likely hypothesis: 001_cube with evidence 37.17
current most likely hypothesis: 001_cube with evidence 37.17
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 30 ---
all possible locations are in radius 0.1 of [0.01666364 1.49520321 0.02309676]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 333 out of 333 hypotheses for 001_cube (evidence > 17.431638696904173)
current most likely hypothesis: 001_cube with evidence 38.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 31 ---
all possible locations are in radius 0.1 of [0.01665371 1.49905262 0.02125296]
added symmetry evidence
Symmetry detected for hypotheses [ 40  55  84  85  87  89  99 101 135 140 157 159]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.05  1.49  0.022], rotation [3.19490e+02 3.14988e+02 8.20000e-02], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 31 steps
Arc correction skipped: |k*p| = 1.2251 >= 1.0 (tangent_projection=0.111609, curvature=-10.976545)

---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 1069 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 424 out of 424 hypotheses for 001_cube (evidence > 0.9744549705457484)
current most likely hypothesis: 001_cube with evidence 2.65
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 852 out of 852 hypotheses for 001_cube (evidence > 0.5925410115933568)
current most likely hypothesis: 001_cube with evidence 4.11
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1276 out of 1276 hypotheses for 001_cube (evidence > 0.9688133318583724)
current most likely hypothesis: 001_cube with evidence 5.6
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.02082913  1.48945548  0.01119673]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1700 out of 1700 hypotheses for 001_cube (evidence > -0.030241126753090652)
current most likely hypothesis: 001_cube with evidence 7.07
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00896904  1.48917361  0.00697487]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2124 out of 2124 hypotheses for 001_cube (evidence > -1.0302411267530907)
current most likely hypothesis: 001_cube with evidence 8.79
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2124 out of 2124 hypotheses for 001_cube (evidence > -2.028620574705368)
current most likely hypothesis: 001_cube with evidence 10.49
current most likely hypothesis: 001_cube with evidence 10.49
current most likely hypothesis: 001_cube with evidence 10.49
current most likely hypothesis: 001_cube with evidence 10.49
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0424875   1.49775123  0.02658593]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 1.7906 >= 1.0 (tangent_projection=-0.002961, curvature=-604.744308)
Sending input from ['patch_0'] to learning_module_0
Testing 2108 out of 2108 hypotheses for 001_cube (evidence > -2.0167619393713796)
current most likely hypothesis: 001_cube with evidence 12.03
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.03131462  1.49743563  0.04836242]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2067 out of 2067 hypotheses for 001_cube (evidence > -3.0167619393713796)
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.04736821  1.49580007  0.05069025]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2041 out of 2041 hypotheses for 001_cube (evidence > 2.678541788676098)
current most likely hypothesis: 001_cube with evidence 14.79
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01666902  1.50399101  0.04874519]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2037 out of 2037 hypotheses for 001_cube (evidence > 2.091768147429433)
current most likely hypothesis: 001_cube with evidence 16.06
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.00713701  1.50689441  0.04548486]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2035 out of 2035 hypotheses for 001_cube (evidence > 3.9431421377745126)
current most likely hypothesis: 001_cube with evidence 17.54
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [0.00714429 1.49445897 0.03454995]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2016 out of 2016 hypotheses for 001_cube (evidence > 3.1596540746508417)
current most likely hypothesis: 001_cube with evidence 19.02
current most likely hypothesis: 001_cube with evidence 19.02
current most likely hypothesis: 001_cube with evidence 19.02
current most likely hypothesis: 001_cube with evidence 19.02
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.00343208  1.49808818  0.02943739]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1990 out of 1990 hypotheses for 001_cube (evidence > 3.6614710038831486)
current most likely hypothesis: 001_cube with evidence 20.49
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01364553  1.49585484  0.03005584]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1964 out of 1964 hypotheses for 001_cube (evidence > 3.7046687342913893)
current most likely hypothesis: 001_cube with evidence 21.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.01253209  1.49577959  0.03881851]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1955 out of 1955 hypotheses for 001_cube (evidence > 6.269459850662441)
current most likely hypothesis: 001_cube with evidence 23.39
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.00570147  1.49786985  0.04550608]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1950 out of 1950 hypotheses for 001_cube (evidence > 6.787635813543572)
current most likely hypothesis: 001_cube with evidence 24.98
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.00334534  1.49354237  0.04729268]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1932 out of 1932 hypotheses for 001_cube (evidence > 7.854798037576293)
current most likely hypothesis: 001_cube with evidence 26.59
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.00376333  1.50013099  0.04904429]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.00345174  1.50044735  0.04914853]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1927 out of 1927 hypotheses for 001_cube (evidence > 9.812848646598939)
current most likely hypothesis: 001_cube with evidence 27.98
current most likely hypothesis: 001_cube with evidence 27.98
current most likely hypothesis: 001_cube with evidence 27.98
current most likely hypothesis: 001_cube with evidence 27.98
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
all possible locations are in radius 0.1 of [0.00560711 1.50150601 0.04957629]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1860 out of 1860 hypotheses for 001_cube (evidence > 8.812848646598939)
current most likely hypothesis: 001_cube with evidence 29.44
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [0.00447789 1.50037629 0.04980094]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1737 out of 1737 hypotheses for 001_cube (evidence > 9.707790004186489)
current most likely hypothesis: 001_cube with evidence 30.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [0.00602978 1.50084989 0.0497162 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1373 out of 1373 hypotheses for 001_cube (evidence > 10.6460107996885)
current most likely hypothesis: 001_cube with evidence 32.61
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [0.00450785 1.50281456 0.0496706 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 491 out of 491 hypotheses for 001_cube (evidence > 10.816983057858051)
current most likely hypothesis: 001_cube with evidence 34.57
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 24 ---
all possible locations are in radius 0.1 of [0.00454197 1.50245441 0.04672009]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 001_cube (evidence > 12.647831228010428)
current most likely hypothesis: 001_cube with evidence 36.03
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 25 ---
all possible locations are in radius 0.1 of [0.00454432 1.50198431 0.04305716]
added symmetry evidence
Symmetry detected for hypotheses [ 23 114 119 133 143 146 175 189 202 210 266]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.484  0.043], rotation [325.466  44.995 179.997], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 25 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 1156 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 001_cube (evidence > 0.9733076919364135)
current most likely hypothesis: 001_cube with evidence 2.93
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 918 out of 918 hypotheses for 001_cube (evidence > 0.5981585283921933)
current most likely hypothesis: 001_cube with evidence 4.86
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1380 out of 1380 hypotheses for 001_cube (evidence > 0.5652812873401108)
current most likely hypothesis: 001_cube with evidence 6.34
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.04999128  1.47408979  0.04242605]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.05   1.471  0.041], rotation [3.2335e+02 4.5017e+01 1.7400e-01], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 4 steps
Arc correction skipped: |k*p| = 1.8271 >= 1.0 (tangent_projection=0.002956, curvature=-618.036006)

---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 1253 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 496 out of 496 hypotheses for 001_cube (evidence > 0.9793266110220481)
current most likely hypothesis: 001_cube with evidence 2.76
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 996 out of 996 hypotheses for 001_cube (evidence > 0.5571569507628624)
current most likely hypothesis: 001_cube with evidence 4.23
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1492 out of 1492 hypotheses for 001_cube (evidence > 0.9686900721662616)
current most likely hypothesis: 001_cube with evidence 5.72
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-4.96167518e-04  1.48885200e+00  5.30058457e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-5.64712551e-04  1.48751054e+00  4.03799354e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1988 out of 1988 hypotheses for 001_cube (evidence > -0.03016429303921997)
current most likely hypothesis: 001_cube with evidence 7.2
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01396482  1.49270046  0.00681587]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01393218  1.49250097  0.00695695]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2484 out of 2484 hypotheses for 001_cube (evidence > -1.03016429303922)
current most likely hypothesis: 001_cube with evidence 8.69
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01301565  1.49810012  0.00323992]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01301703  1.49798859  0.00327843]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2402 out of 2402 hypotheses for 001_cube (evidence > -2.0287520652881823)
current most likely hypothesis: 001_cube with evidence 10.56
current most likely hypothesis: 001_cube with evidence 10.56
current most likely hypothesis: 001_cube with evidence 10.56
current most likely hypothesis: 001_cube with evidence 10.56
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00516202  1.49563304  0.00989911]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2381 out of 2381 hypotheses for 001_cube (evidence > -2.0316886844635715)
current most likely hypothesis: 001_cube with evidence 11.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.00672684  1.490248    0.01126494]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 2.3166 >= 1.0 (tangent_projection=0.003914, curvature=-591.834651)
Sending input from ['patch_0'] to learning_module_0
Testing 2342 out of 2342 hypotheses for 001_cube (evidence > -3.0316886844635715)
current most likely hypothesis: 001_cube with evidence 13.24
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.01249983  1.49905276  0.01685614]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2277 out of 2277 hypotheses for 001_cube (evidence > -3.0323524305285163)
current most likely hypothesis: 001_cube with evidence 14.75
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.01667013  1.50097108  0.01945608]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2270 out of 2270 hypotheses for 001_cube (evidence > 1.9777483228849748)
current most likely hypothesis: 001_cube with evidence 16.32
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.02001305  1.50115088  0.02081095]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2265 out of 2265 hypotheses for 001_cube (evidence > 3.4283392403676647)
current most likely hypothesis: 001_cube with evidence 17.79
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.01364384  1.50033667  0.01470694]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.0136455   1.50165832  0.01398771]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.01364384  1.49981217  0.0128819 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2263 out of 2263 hypotheses for 001_cube (evidence > 4.064812295316148)
current most likely hypothesis: 001_cube with evidence 19.26
current most likely hypothesis: 001_cube with evidence 19.26
current most likely hypothesis: 001_cube with evidence 19.26
current most likely hypothesis: 001_cube with evidence 19.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.01296326  1.49650643  0.00947527]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2259 out of 2259 hypotheses for 001_cube (evidence > 3.71458576162071)
current most likely hypothesis: 001_cube with evidence 20.74
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.01296561  1.49394398  0.00450441]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
all possible locations are in radius 0.1 of [-0.01296761  1.4901176   0.00616157]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2257 out of 2257 hypotheses for 001_cube (evidence > 5.353920491773314)
current most likely hypothesis: 001_cube with evidence 22.2
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [-0.01896182  1.49203913  0.00807361]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [-0.01895833  1.48939704  0.00986193]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2226 out of 2226 hypotheses for 001_cube (evidence > 5.34643902127916)
current most likely hypothesis: 001_cube with evidence 23.68
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2147 out of 2147 hypotheses for 001_cube (evidence > 6.200269802231908)
current most likely hypothesis: 001_cube with evidence 25.13
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2137 out of 2137 hypotheses for 001_cube (evidence > 8.937622554064294)
current most likely hypothesis: 001_cube with evidence 26.6
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2136 out of 2136 hypotheses for 001_cube (evidence > 8.88042279268924)
current most likely hypothesis: 001_cube with evidence 27.89
current most likely hypothesis: 001_cube with evidence 27.89
current most likely hypothesis: 001_cube with evidence 27.89
current most likely hypothesis: 001_cube with evidence 27.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 26 ---
all possible locations are in radius 0.1 of [-0.01723122  1.49985249  0.01409538]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2124 out of 2124 hypotheses for 001_cube (evidence > 7.88042279268924)
current most likely hypothesis: 001_cube with evidence 29.08
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 27 ---
all possible locations are in radius 0.1 of [-0.01534871  1.49981435  0.01760971]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 001_cube (evidence > 8.853709417737965)
current most likely hypothesis: 001_cube with evidence 30.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 28 ---
all possible locations are in radius 0.1 of [-0.00843144  1.49821696  0.01697802]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1918 out of 1918 hypotheses for 001_cube (evidence > 10.349439998180067)
current most likely hypothesis: 001_cube with evidence 31.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 29 ---
all possible locations are in radius 0.1 of [-0.01131658  1.49574478  0.01760696]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1474 out of 1474 hypotheses for 001_cube (evidence > 10.636305772036772)
current most likely hypothesis: 001_cube with evidence 33.78
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 30 ---
all possible locations are in radius 0.1 of [-0.01027233  1.49191059  0.02231283]
added symmetry evidence
Symmetry detected for hypotheses [  4 108 136 239 253 300 393 396 417 419 498 500 501 506 509 510 514 529
 532 533 534 535 536 537 573 694]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.045  1.538  0.05 ], rotation [ 37.742  45.018 359.793], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 30 steps
Arc correction skipped: |k*p| = 1.0086 >= 1.0 (tangent_projection=0.005349, curvature=-188.571667)

---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 1348 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 /mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_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}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x7773830d4e50>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7773830d48e0>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x77738312b3d0>, 'learning_module_2': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7773830cd160>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7773831aec40>, 'sensor_module_1': <tbp.monty.frameworks.models.two_d_sensor_module.TwoDSensorModule object at 0x7773831eec10>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7773856f9dc0>, 'sensor_module_3': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x7773831860a0>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'patch_2': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1], [2]], 'lm_to_lm_matrix': [[], [], [0, 1]], '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': '/mnt/results/TBP/data/habitat/versioned_data/compositional_objects_1.4', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'patch_2', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [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], [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], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False, False], 'zooms': [10.0, 30.0, 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.GaussianBlurRGB object at 0x777382fcf8e0>, <tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x777382fcfa00>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x777382fcfa30>]}, 'train_env_interface_args': {'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 0x777382fe6100>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x777382ffbbe0>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x777382ffba90>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'match_criterion': <tbp.monty.experiment.match_criteria.AnyLMsMatch object at 0x777382febe20>, 'logging': {'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_006_disk/pretrained'), 'monty_data_logger': <tbp.monty.frameworks.loggers.exp_logger.BaseMontyLogger object at 0x777382fe68b0>, 'run_name': 'supervised_pre_training_cows_3d_children-parallel_train_episode_006_disk', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', '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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- 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 0x77736c73bc10>
Added new graph with id 006_disk to memory.
Model for 006_disk:
   Contains 99 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 40 out of 40 hypotheses for 006_disk (evidence > 0.7800748372959792)
current most likely hypothesis: 006_disk with evidence 2.04
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 80 out of 80 hypotheses for 006_disk (evidence > 0.7612976158941359)
current most likely hypothesis: 006_disk with evidence 3.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 006_disk (evidence > 0.7469091279693104)
current most likely hypothesis: 006_disk with evidence 4.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [1.62128006e-04 1.49468387e+00 3.11300978e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 006_disk (evidence > -0.24483521066890646)
current most likely hypothesis: 006_disk with evidence 5.69
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [1.62128167e-04 1.49468387e+00 3.11147273e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 200 out of 200 hypotheses for 006_disk (evidence > -0.2317618253111754)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [1.62164463e-04 1.49468356e+00 2.76423874e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 200 out of 200 hypotheses for 006_disk (evidence > -0.21647621097363545)
current most likely hypothesis: 006_disk with evidence 8.09
current most likely hypothesis: 006_disk with evidence 8.09
current most likely hypothesis: 006_disk with evidence 8.09
current most likely hypothesis: 006_disk with evidence 8.09
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [1.62164857e-04 1.49468356e+00 2.76046554e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 195 out of 195 hypotheses for 006_disk (evidence > -0.000712302500433748)
current most likely hypothesis: 006_disk with evidence 9.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-4.06622586e-05  1.49621379e+00  2.23566957e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 006_disk (evidence > 0.036372513075516366)
current most likely hypothesis: 006_disk with evidence 10.43
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [1.63496745e-04 1.49735004e+00 2.22973436e-03]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 14 15 16 17 18 19 20 21 22 23 24
 25 26 27 28 29 30 31 32 34 35 36 37 38 39]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.011 1.494 0.002], rotation [1.33000e-01 2.60000e-02 2.31893e+02], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 40 out of 40 hypotheses for 006_disk (evidence > 0.9926910312460431)
current most likely hypothesis: 006_disk with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 80 out of 80 hypotheses for 006_disk (evidence > -0.007308968753956924)
current most likely hypothesis: 006_disk with evidence 3.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 006_disk (evidence > -0.009471645804229545)
current most likely hypothesis: 006_disk with evidence 5.45
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01516261  1.49654173  0.00348587]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01554138  1.49691806  0.00348997]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 006_disk (evidence > -1.0094716458042297)
current most likely hypothesis: 006_disk with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01425893  1.49716793  0.00348818]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0144997   1.49774346  0.00349035]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 200 out of 200 hypotheses for 006_disk (evidence > -2.0094716458042297)
current most likely hypothesis: 006_disk with evidence 8.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01561707  1.49725608  0.00350402]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 190 out of 190 hypotheses for 006_disk (evidence > -1.0091073010047293)
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01485292  1.49680535  0.00351086]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 178 out of 178 hypotheses for 006_disk (evidence > -2.0091073010047293)
current most likely hypothesis: 006_disk with evidence 11.37
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01470184  1.49594265  0.00350987]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 163 out of 163 hypotheses for 006_disk (evidence > -3.0037582037158654)
current most likely hypothesis: 006_disk with evidence 12.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.01236212  1.49497084  0.0035009 ]
added symmetry evidence
Symmetry detected for hypotheses [ 2  3  4  6  7  8  9 12 13 14 17 18 19 22 23 24 25 27 28 29 32 33 34 35
 36 37 38 39]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.034 1.51  0.004], rotation [3.59925e+02 2.22000e-01 3.13310e+01], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 101 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 215 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.98
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 86 out of 86 hypotheses for 006_disk (evidence > 0.7794205741281393)
current most likely hypothesis: 006_disk with evidence 2.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 172 out of 172 hypotheses for 006_disk (evidence > 0.7625498352842459)
current most likely hypothesis: 006_disk with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 258 out of 258 hypotheses for 006_disk (evidence > 0.7887301244320856)
current most likely hypothesis: 006_disk with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-5.37442360e-02  1.49993643e+00  4.51563141e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 344 out of 344 hypotheses for 006_disk (evidence > -0.21121715392370954)
current most likely hypothesis: 006_disk with evidence 8.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-5.37427372e-02  1.49993644e+00  4.51570361e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 430 out of 430 hypotheses for 006_disk (evidence > -0.24423352793396103)
current most likely hypothesis: 006_disk with evidence 10.76
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-5.34073304e-02  1.49993689e+00  4.53186086e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 430 out of 430 hypotheses for 006_disk (evidence > -0.21712915914856956)
current most likely hypothesis: 006_disk with evidence 12.75
current most likely hypothesis: 006_disk with evidence 12.75
current most likely hypothesis: 006_disk with evidence 12.75
current most likely hypothesis: 006_disk with evidence 12.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-5.34036553e-02  1.49993690e+00  4.53203790e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 423 out of 423 hypotheses for 006_disk (evidence > -0.049012204205129084)
current most likely hypothesis: 006_disk with evidence 14.73
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-5.35778194e-02  1.49994073e+00  4.46495776e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 418 out of 418 hypotheses for 006_disk (evidence > 0.051836446685233906)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-5.35158570e-02  1.49994810e+00  4.34862281e-05]
added symmetry evidence
Symmetry detected for hypotheses [28 30 31 32 34 35 36 37 38 39 40 41 42 71 73 74 75 77 78 79 80 81 82 83
 84 85]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.055  1.488 -0.002], rotation [279.527  90.    279.527], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 230 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 92 out of 92 hypotheses for 006_disk (evidence > 0.7883141788347963)
current most likely hypothesis: 006_disk with evidence 2.97
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 184 out of 184 hypotheses for 006_disk (evidence > 0.7879642247054198)
current most likely hypothesis: 006_disk with evidence 4.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-2.60971845e-09  1.49993690e+00  5.76652559e-10]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 276 out of 276 hypotheses for 006_disk (evidence > -0.2117022506235613)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 2.57580044e-09  1.49994072e+00 -1.18720865e-10]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 368 out of 368 hypotheses for 006_disk (evidence > -0.2155019365325047)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [3.27791786e-09 1.49994810e+00 6.01334705e-10]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 460 out of 460 hypotheses for 006_disk (evidence > -0.2099972688173687)
current most likely hypothesis: 006_disk with evidence 10.76
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [2.73468661e-09 1.49994885e+00 1.14973630e-09]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 454 out of 454 hypotheses for 006_disk (evidence > -0.2204101652406486)
current most likely hypothesis: 006_disk with evidence 12.72
current most likely hypothesis: 006_disk with evidence 12.72
current most likely hypothesis: 006_disk with evidence 12.72
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [2.72108934e-09 1.49994887e+00 1.16346298e-09]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 439 out of 439 hypotheses for 006_disk (evidence > 0.046808725537716755)
current most likely hypothesis: 006_disk with evidence 14.65
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-8.43217822e-09  1.49995140e+00  8.11958105e-09]
added symmetry evidence
Symmetry detected for hypotheses [14 15 16 19 20 21 23 24 25 26 27 28 30 31 32 33 34 36 37 38 39 40 41 42
 57 58 59 62 63 64 66 67 68 69 71 72 73 74 75 77 78 79 80 81 82 83 84 85]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.053  1.481 -0.003], rotation [270.016  89.934 180.015], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps

---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 242 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 006_disk (evidence > 0.7900202612158833)
current most likely hypothesis: 006_disk with evidence 2.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 006_disk (evidence > 0.7741006522809355)
current most likely hypothesis: 006_disk with evidence 4.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 288 out of 288 hypotheses for 006_disk (evidence > 0.7884913393882451)
current most likely hypothesis: 006_disk with evidence 6.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [6.13081211e-04 1.51497381e+00 1.57820900e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 006_disk (evidence > 0.7769957666046441)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 2.03708957e-04  1.51449115e+00 -1.70460837e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -0.10449372425851922)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [1.53134002e-05 1.51362152e+00 1.28523780e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 478 out of 478 hypotheses for 006_disk (evidence > -0.20757407262937366)
current most likely hypothesis: 006_disk with evidence 12.66
current most likely hypothesis: 006_disk with evidence 12.66
current most likely hypothesis: 006_disk with evidence 12.66
current most likely hypothesis: 006_disk with evidence 12.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [1.51070817e-05 1.51342473e+00 1.29158486e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 474 out of 474 hypotheses for 006_disk (evidence > 0.8198561011512742)
current most likely hypothesis: 006_disk with evidence 14.62
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [1.51019188e-05 1.51341981e+00 1.29174369e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 469 out of 469 hypotheses for 006_disk (evidence > 0.026131145828290236)
current most likely hypothesis: 006_disk with evidence 16.59
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [1.38546292e-05 1.51298462e+00 1.23105512e-05]
added symmetry evidence
Symmetry detected for hypotheses [ 5  7 12 13 14 15 16 17 18 20 21 23 24 26 27 28 29 30 31 32 33 36 37 38
 39 40 41 42 43 44 45 46 53 55 60 61 62 63 64 65 66 68 69 70 71 73 74 75
 77 78 79 80 81 83 84 85 86 87 89 90 91 92 93 94]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.019  1.553 -0.003], rotation [90.  0.  0.], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps

---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 252 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.95
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 006_disk (evidence > 0.9377986290862825)
current most likely hypothesis: 006_disk with evidence 2.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 006_disk (evidence > -0.06121261445853032)
current most likely hypothesis: 006_disk with evidence 3.79
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 288 out of 288 hypotheses for 006_disk (evidence > -0.09657717675561472)
current most likely hypothesis: 006_disk with evidence 5.22
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 1.34813043e-02  1.48387509e+00 -2.24068194e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 006_disk (evidence > -1.0965771767556147)
current most likely hypothesis: 006_disk with evidence 6.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 1.35586943e-02  1.48338281e+00 -2.28642111e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -1.060333838593346)
current most likely hypothesis: 006_disk with evidence 8.1
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [ 1.47139931e-02  1.48520781e+00 -6.00495772e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 465 out of 465 hypotheses for 006_disk (evidence > -2.060333838593346)
current most likely hypothesis: 006_disk with evidence 9.52
current most likely hypothesis: 006_disk with evidence 9.52
current most likely hypothesis: 006_disk with evidence 9.52
current most likely hypothesis: 006_disk with evidence 9.52
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [1.70339072e-02 1.48670123e+00 2.11086582e-06]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 446 out of 446 hypotheses for 006_disk (evidence > -3.060333838593346)
current most likely hypothesis: 006_disk with evidence 10.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [1.82147081e-02 1.48781710e+00 1.38017840e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 407 out of 407 hypotheses for 006_disk (evidence > -3.0620536247676187)
current most likely hypothesis: 006_disk with evidence 12.39
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [1.94851902e-02 1.48879111e+00 1.33584117e-04]
added symmetry evidence
Symmetry detected for hypotheses [ 5  6  7  8  9 11 15 16 17 19 20 21 25 26 27 29 30 35 36 37 39 40 41 43
 44 45 46 48 49 50 51 52 53 54 55 57 58 60 63 64 65 67 68 70 75 76 77 78
 79 80]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [ 0.008  1.486 -0.003], rotation [233.895 355.799  48.667], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.2374 >= 1.0 (tangent_projection=-0.003447, curvature=-358.958155)

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 95 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 339 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 136 out of 136 hypotheses for 006_disk (evidence > 0.9854246196700125)
current most likely hypothesis: 006_disk with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 272 out of 272 hypotheses for 006_disk (evidence > -0.014133209877375208)
current most likely hypothesis: 006_disk with evidence 3.98
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 408 out of 408 hypotheses for 006_disk (evidence > -0.014423084511038686)
current most likely hypothesis: 006_disk with evidence 5.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-4.23152489e-03  1.51849061e+00 -1.96961352e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 006_disk (evidence > -1.0144230845110387)
current most likely hypothesis: 006_disk with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-4.09196715e-03  1.51477654e+00 -1.01473252e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 663 out of 663 hypotheses for 006_disk (evidence > -2.014423084511039)
current most likely hypothesis: 006_disk with evidence 8.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-4.39802602e-03  1.51466927e+00 -6.91346820e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 628 out of 628 hypotheses for 006_disk (evidence > -3.014423084511039)
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-5.07935455e-03  1.51499917e+00 -7.28790060e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 603 out of 603 hypotheses for 006_disk (evidence > -3.013550307326986)
current most likely hypothesis: 006_disk with evidence 11.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-5.40758841e-03  1.51665340e+00 -8.07787293e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 572 out of 572 hypotheses for 006_disk (evidence > -2.019323115122163)
current most likely hypothesis: 006_disk with evidence 12.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-4.57469076e-03  1.51652464e+00  8.34889476e-05]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8  10  11  12  13  14  15  17  18  19
  20  21  23  24  26  27  28  29  31  33  34  35  36  37  38  40  42  43
  45  46  47  48  49  50  51  53  54  56  58  59  61  62  63  64  65  66
  67  69  70  71  73  74  76  77  79  80  82  83  85  86  87  88  90  92
  93  94  95  96  98  99 100 101 103 105 106 107 108 109]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [ 0.003  1.554 -0.004], rotation [135.893  35.116 344.93 ], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.1670 >= 1.0 (tangent_projection=-0.003246, curvature=-359.471715)
Arc correction skipped: |k*p| = 1.7567 >= 1.0 (tangent_projection=-0.003447, curvature=-509.552489)

---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 413 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.98
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 006_disk (evidence > 0.9688819478079024)
current most likely hypothesis: 006_disk with evidence 2.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 006_disk (evidence > -0.030593460803151062)
current most likely hypothesis: 006_disk with evidence 3.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 006_disk (evidence > -0.03205428144634548)
current most likely hypothesis: 006_disk with evidence 5.39
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.00479571 1.51046217 0.00355084]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 640 out of 640 hypotheses for 006_disk (evidence > -1.0320542814463454)
current most likely hypothesis: 006_disk with evidence 6.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [0.00569507 1.50820215 0.00362298]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 800 out of 800 hypotheses for 006_disk (evidence > -2.0320542814463454)
current most likely hypothesis: 006_disk with evidence 8.31
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [0.00639603 1.50835027 0.00354848]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 754 out of 754 hypotheses for 006_disk (evidence > -3.0320542814463454)
current most likely hypothesis: 006_disk with evidence 9.77
current most likely hypothesis: 006_disk with evidence 9.77
current most likely hypothesis: 006_disk with evidence 9.77
current most likely hypothesis: 006_disk with evidence 9.77
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [0.00699595 1.50816957 0.00344507]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 737 out of 737 hypotheses for 006_disk (evidence > -3.0305599624260506)
current most likely hypothesis: 006_disk with evidence 11.23
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [0.00526452 1.5045214  0.00328526]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 705 out of 705 hypotheses for 006_disk (evidence > -3.040097506130084)
current most likely hypothesis: 006_disk with evidence 12.69
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [0.00576662 1.50265006 0.00315822]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7  11  12  13  15  16  17  19  20  21  24
  25  26  27  28  31  32  33  34  36  38  39  40  41  43  45  46  47  49
  50  51  52  53  57  58  59  65  66  68  69  70  71  72  74  76  78  84
  85  87  88  89  90  92  95  96  98 100 107 109 110 112 113 115 116 120
 121 122 123 126 127 129 130 132 133 135 136 139 140 141 142 143 144 149
 150 151 152 153 155 156]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.018 1.516 0.003], rotation [306.327   7.064 139.534], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.6908 >= 1.0 (tangent_projection=0.003257, curvature=-519.120493)
Arc correction skipped: |k*p| = 1.1913 >= 1.0 (tangent_projection=0.003247, curvature=-366.947244)
Arc correction skipped: |k*p| = 1.0028 >= 1.0 (tangent_projection=0.007100, curvature=-141.225934)

---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 491 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 006_disk (evidence > 0.9782097313102961)
current most likely hypothesis: 006_disk with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 006_disk (evidence > -0.021182665879773133)
current most likely hypothesis: 006_disk with evidence 3.95
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01072439  1.50674475  0.00231971]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01098656  1.50675101  0.00235119]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 576 out of 576 hypotheses for 006_disk (evidence > -0.03136980264131528)
current most likely hypothesis: 006_disk with evidence 5.41
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01134187  1.50613424  0.00242584]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 768 out of 768 hypotheses for 006_disk (evidence > -1.0313698026413154)
current most likely hypothesis: 006_disk with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01091974  1.50614202  0.00237368]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 006_disk (evidence > -2.0313698026413154)
current most likely hypothesis: 006_disk with evidence 8.37
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00837254  1.50640489  0.00227143]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 939 out of 939 hypotheses for 006_disk (evidence > -1.0304791945464045)
current most likely hypothesis: 006_disk with evidence 9.85
current most likely hypothesis: 006_disk with evidence 9.85
current most likely hypothesis: 006_disk with evidence 9.85
current most likely hypothesis: 006_disk with evidence 9.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00830749  1.50559239  0.00221121]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 904 out of 904 hypotheses for 006_disk (evidence > -2.0304791945464045)
current most likely hypothesis: 006_disk with evidence 11.32
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00399538  1.5005711   0.00208312]
added symmetry evidence
Symmetry detected for hypotheses [  0   4   5   6   7   8   9  10  11  12  14  15  19  25  26  28  29  30
  32  34  36  37  38  39  41  42  44  49  50  52  53  56  58  59  61  62
  63  64  65  66  67  70  71  72  73  76  79  81  83  85  86  87  88  90
  91  92  94  96  97  98 100 103 107 109 110 111 112 114 115 116 117 118
 120 121 122 124 125 126 127 128 130 131 132 133 134 135 138 139 140 141
 142 145 146 148 149 150 151 152 154 155 156 157 158 163 164 168 169 170
 171 172 174 175 176 178 179 181]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.004 1.514 0.003], rotation [ 36.681  42.962 183.271], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps
Arc correction skipped: |k*p| = 1.2633 >= 1.0 (tangent_projection=0.003445, curvature=-366.696506)

---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 551 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 216 out of 216 hypotheses for 006_disk (evidence > 0.9799249478342048)
current most likely hypothesis: 006_disk with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 432 out of 432 hypotheses for 006_disk (evidence > -0.019831096546893634)
current most likely hypothesis: 006_disk with evidence 3.97
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00527882  1.49236634  0.003498  ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.0050888   1.49226691  0.00354503]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 648 out of 648 hypotheses for 006_disk (evidence > -0.015061479513508447)
current most likely hypothesis: 006_disk with evidence 5.45
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00455352  1.49260452  0.00358468]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 864 out of 864 hypotheses for 006_disk (evidence > -1.0150614795135084)
current most likely hypothesis: 006_disk with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00420675  1.49295395  0.00349928]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1080 out of 1080 hypotheses for 006_disk (evidence > -2.0123054075872333)
current most likely hypothesis: 006_disk with evidence 8.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00418515  1.49310941  0.00337476]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1054 out of 1054 hypotheses for 006_disk (evidence > -2.012303937186007)
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
current most likely hypothesis: 006_disk with evidence 9.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00375482  1.49408559  0.00329009]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1021 out of 1021 hypotheses for 006_disk (evidence > -2.01677396892913)
current most likely hypothesis: 006_disk with evidence 11.37
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [6.41680390e-04 1.49709829e+00 3.17165578e-03]
added symmetry evidence
Symmetry detected for hypotheses [  2   3   4   7   9  10  11  12  14  15  16  17  18  19  21  22  23  26
  29  30  34  36  37  38  39  40  41  42  44  46  48  49  50  51  53  55
  56  57  59  60  61  62  64  66  67  68  71  72  74  75  76  77  79  81
  85  86  87  88  92  93  94  96  97  99 101 104 105 106 107 108 112 113
 114 115 119 120 121 122 124 127 128 131 132 133 134 135 138 140 142 143
 146 149 150 151 153 154 155 156 157 159 161 162 163 167 169 173 174 175
 177 178 179 182 184 186 187 188 193 194 195 199 201 202 203 204 205 206
 207]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.012  1.521  0.003], rotation [329.641 312.212 353.343], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps
Arc correction skipped: |k*p| = 1.2652 >= 1.0 (tangent_projection=0.003445, curvature=-367.233311)

---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 635 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 248 out of 248 hypotheses for 006_disk (evidence > 0.9754134425995927)
current most likely hypothesis: 006_disk with evidence 2.5
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 496 out of 496 hypotheses for 006_disk (evidence > -0.023438747356621326)
current most likely hypothesis: 006_disk with evidence 3.99
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 744 out of 744 hypotheses for 006_disk (evidence > -0.012536617048621856)
current most likely hypothesis: 006_disk with evidence 5.49
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.00213776 1.50599986 0.00354789]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 992 out of 992 hypotheses for 006_disk (evidence > -1.0125366170486219)
current most likely hypothesis: 006_disk with evidence 6.97
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [1.43345662e-03 1.50460892e+00 3.62191295e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1240 out of 1240 hypotheses for 006_disk (evidence > -2.012536617048622)
current most likely hypothesis: 006_disk with evidence 8.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [1.05775239e-03 1.50447885e+00 3.54708510e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1196 out of 1196 hypotheses for 006_disk (evidence > -3.012536617048622)
current most likely hypothesis: 006_disk with evidence 9.94
current most likely hypothesis: 006_disk with evidence 9.94
current most likely hypothesis: 006_disk with evidence 9.94
current most likely hypothesis: 006_disk with evidence 9.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [7.89628413e-04 1.50378921e+00 3.44275648e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1175 out of 1175 hypotheses for 006_disk (evidence > -3.0047335953888115)
current most likely hypothesis: 006_disk with evidence 11.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [0.00151781 1.50202888 0.00328405]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1149 out of 1149 hypotheses for 006_disk (evidence > -2.0268611349519516)
current most likely hypothesis: 006_disk with evidence 12.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [0.00205489 1.50137763 0.00316211]
added symmetry evidence
Symmetry detected for hypotheses [  0   2   4   6   7   8  10  11  12  13  14  16  17  18  22  23  24  26
  27  28  29  31  34  36  37  38  39  40  41  42  43  44  46  47  48  51
  53  54  55  57  58  60  63  67  68  69  70  71  72  74  76  77  79  80
  81  82  83  84  85  88  90  91  92  93  98  99 100 101 103 104 105 106
 107 111 112 113 114 115 116 121 122 123 124 129 130 131 135 136 138 142
 143 144 145 146 147 148 152 153 154 155 156 160 161 166 167 170 175 176
 177 179 181 182 183 184 185 188 189 190 191 195 197 198 200 201 205 207
 210 211 213 215 217 218 219 220 223 224 225 226 227 230 231 232 237 238
 240 241]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.008  1.48   0.004], rotation [ 41.99  321.165 349.589], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.6041 >= 1.0 (tangent_projection=0.003257, curvature=-492.516342)
Arc correction skipped: |k*p| = 1.1920 >= 1.0 (tangent_projection=0.003247, curvature=-367.166337)
Arc correction skipped: |k*p| = 1.0033 >= 1.0 (tangent_projection=0.007100, curvature=-141.303093)

---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 705 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 280 out of 280 hypotheses for 006_disk (evidence > 0.9803748587868937)
current most likely hypothesis: 006_disk with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 560 out of 560 hypotheses for 006_disk (evidence > -0.01781518211732247)
current most likely hypothesis: 006_disk with evidence 3.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 840 out of 840 hypotheses for 006_disk (evidence > -0.03004452160647042)
current most likely hypothesis: 006_disk with evidence 5.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [3.88146121e-03 1.49933656e+00 4.94889663e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1120 out of 1120 hypotheses for 006_disk (evidence > -1.0300445216064704)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [3.22702025e-03 1.49877037e+00 5.44211269e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1391 out of 1391 hypotheses for 006_disk (evidence > -2.03004452160647)
current most likely hypothesis: 006_disk with evidence 8.42
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [2.86239696e-03 1.49920846e+00 5.49132442e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1329 out of 1329 hypotheses for 006_disk (evidence > -3.03004452160647)
current most likely hypothesis: 006_disk with evidence 9.9
current most likely hypothesis: 006_disk with evidence 9.9
current most likely hypothesis: 006_disk with evidence 9.9
current most likely hypothesis: 006_disk with evidence 9.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [3.00230276e-03 1.49920651e+00 5.86943541e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1289 out of 1289 hypotheses for 006_disk (evidence > -3.0179219690383725)
current most likely hypothesis: 006_disk with evidence 11.39
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [3.06721539e-03 1.49913922e+00 5.90176049e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1255 out of 1255 hypotheses for 006_disk (evidence > -2.013391460044578)
current most likely hypothesis: 006_disk with evidence 12.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [2.75614472e-03 1.49873565e+00 6.99546013e-04]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   9  10  11  12  13  14  15  17  18  19
  20  21  23  24  26  28  29  31  32  33  34  35  36  37  38  39  40  41
  43  44  45  46  47  49  50  51  52  53  55  56  57  58  59  60  61  62
  65  66  67  68  69  70  71  75  76  78  79  80  81  82  83  84  85  86
  87  89  90  91  92  93  94  95  96  98  99 100 101 102 103 105 106 108
 109 110 111 112 113 114 115 116 118 119 120 122 123 124 125 126 127 128
 129 131 132 134 135 137 138 140 141 142 143 144 145 146 147 148 149 150
 151 152 153 154 155 156 157 158 159 160 161 162 163 164 166 167 168 169
 170 172 173 174 175 176 177 178 179 180 181 182 183 185 186 187 188 189
 190 191 192 193 195 196 197 198 199 200 201 202 203 205 206 207 208 209
 210 211 212 213 214 215 216 217 218 219 220 221 222 223 225 226 228 230
 231 232 233 234 235 236 240 241 242 243 244 245 246 247 248 249 250 251
 252 253 254 256 258 259 261]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.027 1.498 0.004], rotation [309.171 337.793 297.181], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.1682 >= 1.0 (tangent_projection=-0.003246, curvature=-359.822639)
Arc correction skipped: |k*p| = 1.7636 >= 1.0 (tangent_projection=-0.003447, curvature=-511.582816)

---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 782 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 312 out of 312 hypotheses for 006_disk (evidence > 0.9616449004619388)
current most likely hypothesis: 006_disk with evidence 2.49
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 624 out of 624 hypotheses for 006_disk (evidence > -0.038159442063468774)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 936 out of 936 hypotheses for 006_disk (evidence > -0.033218542338607326)
current most likely hypothesis: 006_disk with evidence 5.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00211754  1.50957988  0.00182736]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1248 out of 1248 hypotheses for 006_disk (evidence > -1.0332185423386073)
current most likely hypothesis: 006_disk 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00204912  1.50968674  0.00186993]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1560 out of 1560 hypotheses for 006_disk (evidence > -2.0332113817458675)
current most likely hypothesis: 006_disk with evidence 8.42
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0019369   1.50937674  0.0019528 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1526 out of 1526 hypotheses for 006_disk (evidence > -2.034545833677093)
current most likely hypothesis: 006_disk with evidence 9.92
current most likely hypothesis: 006_disk with evidence 9.92
current most likely hypothesis: 006_disk with evidence 9.92
current most likely hypothesis: 006_disk with evidence 9.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00179191  1.50921507  0.00205948]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1498 out of 1498 hypotheses for 006_disk (evidence > -3.034545833677093)
current most likely hypothesis: 006_disk with evidence 11.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00181206  1.508938    0.0020662 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1408 out of 1408 hypotheses for 006_disk (evidence > -3.0143974964495284)
current most likely hypothesis: 006_disk with evidence 12.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00286643  1.50876597  0.00195785]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   6   7   9  10  11  12  14  16  17  18  19  20  21
  22  23  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39
  40  41  42  43  45  46  48  49  50  51  52  53  54  55  56  57  58  59
  61  63  64  65  66  67  68  69  70  71  72  73  74  75  76  77  78  79
  80  81  82  83  84  85  86  87  88  90  91  93  94  96  98 100 102 103
 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 122
 123 125 126 127 129 130 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 161 162
 163 164 165 166 167 168 170 171 172 173 174 175 177 178 179 180 181 182
 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
 202 203 204 205 206 207 209 210 211 212 213 214 215 216 217 218 219 220
 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 238 239
 241 242 243 244 245 246 248 249 250 251 252 253 255 257 258 259 260 261
 262 263 264 265 266 267 269 270 271 272 273 274 275 277 278 280 281 282
 283 285 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302
 303 304 305 306 307 308 309]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.025  1.509  0.004], rotation [334.998  50.139 283.756], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.2390 >= 1.0 (tangent_projection=-0.003447, curvature=-359.412307)

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 96 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 857 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 /mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_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}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x74966bb17d90>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x74966bb17820>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x74966bb68310>, 'learning_module_2': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x74966bb090a0>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x74966bbf17c0>, 'sensor_module_1': <tbp.monty.frameworks.models.two_d_sensor_module.TwoDSensorModule object at 0x74966bf1d070>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x74966bf24550>, 'sensor_module_3': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x74966bbc9d60>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'patch_2': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1], [2]], 'lm_to_lm_matrix': [[], [], [0, 1]], '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': '/mnt/results/TBP/data/habitat/versioned_data/compositional_objects_1.4', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'patch_2', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [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], [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], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False, False], 'zooms': [10.0, 30.0, 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.GaussianBlurRGB object at 0x74966bac6700>, <tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x74966bac6820>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x74966bac6850>]}, 'train_env_interface_args': {'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 0x74966bae2280>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x74966baf2bb0>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x74966baf2a60>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'match_criterion': <tbp.monty.experiment.match_criteria.AnyLMsMatch object at 0x74966bafa8e0>, 'logging': {'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_011_cylinder/pretrained'), 'monty_data_logger': <tbp.monty.frameworks.loggers.exp_logger.BaseMontyLogger object at 0x74966bade400>, 'run_name': 'supervised_pre_training_cows_3d_children-parallel_train_episode_011_cylinder', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', '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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- 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 81 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x74965c1fc4c0>
Added new graph with id 011_cylinder to memory.
Model for 011_cylinder:
   Contains 81 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 32 out of 32 hypotheses for 011_cylinder (evidence > 0.9771004357097869)
current most likely hypothesis: 011_cylinder with evidence 2.98
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 64 out of 64 hypotheses for 011_cylinder (evidence > -0.02268367046296693)
current most likely hypothesis: 011_cylinder with evidence 4.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 011_cylinder (evidence > -1.022683670462967)
current most likely hypothesis: 011_cylinder with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.00279184 1.50121118 0.04726648]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 128 out of 128 hypotheses for 011_cylinder (evidence > -1.0194745903215943)
current most likely hypothesis: 011_cylinder with evidence 8.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [0.0033244  1.50248282 0.04636325]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 158 out of 158 hypotheses for 011_cylinder (evidence > -2.019474590321594)
current most likely hypothesis: 011_cylinder with evidence 10.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [0.00217553 1.50245161 0.04673111]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 152 out of 152 hypotheses for 011_cylinder (evidence > -3.012799565643008)
current most likely hypothesis: 011_cylinder with evidence 12.79
current most likely hypothesis: 011_cylinder with evidence 12.79
current most likely hypothesis: 011_cylinder with evidence 12.79
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [9.02361395e-04 1.50241205e+00 4.80207634e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 147 out of 147 hypotheses for 011_cylinder (evidence > -2.0147588193270236)
current most likely hypothesis: 011_cylinder with evidence 14.76
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-6.73180083e-05  1.50196267e+00  4.68136482e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 143 out of 143 hypotheses for 011_cylinder (evidence > -3.0147588193270236)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-6.31643172e-05  1.50038699e+00  4.68167029e-02]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8 10 11 12 13 14 15 16 17 19 20 21 22 23 24 25
 26 27 28]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.    1.495 0.05 ], rotation [  0.    343.989   0.   ], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 159 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 64 out of 64 hypotheses for 011_cylinder (evidence > 0.9752651696814872)
current most likely hypothesis: 011_cylinder with evidence 2.97
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.02932204  1.49228145  0.01805393]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 128 out of 128 hypotheses for 011_cylinder (evidence > -0.024734830318512757)
current most likely hypothesis: 011_cylinder with evidence 4.96
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.03039457  1.49228635  0.0177463 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.03039318  1.49236404  0.01774691]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 011_cylinder (evidence > -0.0219206838214262)
current most likely hypothesis: 011_cylinder with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.03082249  1.49236614  0.01765817]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 256 out of 256 hypotheses for 011_cylinder (evidence > -1.0219206838214263)
current most likely hypothesis: 011_cylinder with evidence 8.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.03046292  1.49221641  0.01733191]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > -2.0191771483938203)
current most likely hypothesis: 011_cylinder with evidence 10.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.03047438  1.49251438  0.01683541]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 307 out of 307 hypotheses for 011_cylinder (evidence > -2.023430061023661)
current most likely hypothesis: 011_cylinder with evidence 12.84
current most likely hypothesis: 011_cylinder with evidence 12.84
current most likely hypothesis: 011_cylinder with evidence 12.84
current most likely hypothesis: 011_cylinder with evidence 12.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.03093047  1.49251217  0.01735683]
added symmetry evidence
Symmetry detected for hypotheses [ 1  2  3  4  5  6  8  9 10 11 12 13 14 15 16 17 19 20 22 23 24 25 26 27
 28 29 30 31 32 33 34 35 36 37 40 41 42 43 44 45 47 48 49 50 51 52 53 55
 56 57 58 59 60 61 62 63]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.004  1.513  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
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 82 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 239 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 011_cylinder (evidence > 0.9754157954051923)
current most likely hypothesis: 011_cylinder with evidence 2.97
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 011_cylinder (evidence > -0.024092629713135638)
current most likely hypothesis: 011_cylinder with evidence 4.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 288 out of 288 hypotheses for 011_cylinder (evidence > -0.01877866180223431)
current most likely hypothesis: 011_cylinder with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01618873  1.50338476 -0.00579731]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 011_cylinder (evidence > -1.0187786618022343)
current most likely hypothesis: 011_cylinder with evidence 8.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01602418  1.50358746 -0.00562869]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -2.0187786618022345)
current most likely hypothesis: 011_cylinder with evidence 10.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01640491  1.50349732 -0.00520784]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 466 out of 466 hypotheses for 011_cylinder (evidence > -3.015624046198249)
current most likely hypothesis: 011_cylinder with evidence 12.82
current most likely hypothesis: 011_cylinder with evidence 12.82
current most likely hypothesis: 011_cylinder with evidence 12.82
current most likely hypothesis: 011_cylinder with evidence 12.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0170979   1.50284493 -0.0049907 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 450 out of 450 hypotheses for 011_cylinder (evidence > -3.0206710181228584)
current most likely hypothesis: 011_cylinder with evidence 14.79
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.0164206   1.50243321 -0.00468234]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 437 out of 437 hypotheses for 011_cylinder (evidence > -3.0188581281477154)
current most likely hypothesis: 011_cylinder with evidence 16.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01642236  1.50260833 -0.0046874 ]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  8 10 11 12 14 15 16 17 19 20 21 22 23 24 25 26 27
 28 29 30 31 32 34 35 36 37 38 39 40 41 43 44 45 47 48 49 50 51 52 53 54
 55 56 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80
 81 82 83 84 85 86 87 88 89]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.014  1.505 -0.048], rotation [1.80e+02 1.76e-01 0.00e+00], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 315 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 011_cylinder (evidence > 0.7899373724161421)
current most likely hypothesis: 011_cylinder with evidence 2.09
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 011_cylinder (evidence > -0.20864578051516303)
current most likely hypothesis: 011_cylinder with evidence 3.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 360 out of 360 hypotheses for 011_cylinder (evidence > -1.2053474641898358)
current most likely hypothesis: 011_cylinder with evidence 4.58
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01109327  1.49865364  0.00617139]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > -1.2088906614353325)
current most likely hypothesis: 011_cylinder with evidence 5.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01047736  1.49888273  0.00606555]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 597 out of 597 hypotheses for 011_cylinder (evidence > -2.2088906614353325)
current most likely hypothesis: 011_cylinder with evidence 7.14
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0101185   1.49873886  0.00610477]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 520 out of 520 hypotheses for 011_cylinder (evidence > -3.2088906614353325)
current most likely hypothesis: 011_cylinder with evidence 8.3
current most likely hypothesis: 011_cylinder with evidence 8.3
current most likely hypothesis: 011_cylinder with evidence 8.3
current most likely hypothesis: 011_cylinder with evidence 8.3
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00987701  1.49853022  0.00618569]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 450 out of 450 hypotheses for 011_cylinder (evidence > -3.2125648871639005)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00985032  1.49814114  0.00562323]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 389 out of 389 hypotheses for 011_cylinder (evidence > -3.214209276737958)
current most likely hypothesis: 011_cylinder with evidence 10.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00963054  1.49785895  0.00492923]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  14  15  16  19  20
  21  23  24  25  26  28  29  30  31  32  34  35  36  37  38  39  40  41
  42  43  44  48  49  50  51  52  53  54  55  56  57  58  59  60  61  62
  63  64  65  66  67  68  70  71  72  75  76  77  79  80  81  83  85  86
  87  88  89  90  91  92  93  94  95  96  98 100 101 102 103 104 105 106
 107 108 109 110 111 113]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [ 0.009  1.51  -0.049], rotation [179.935 349.96  134.985], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 411 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 011_cylinder (evidence > 0.9804298538203534)
current most likely hypothesis: 011_cylinder with evidence 2.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 011_cylinder (evidence > 0.9639818713142951)
current most likely hypothesis: 011_cylinder with evidence 3.95
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 6.43495823e-04  1.54999991e+00 -4.24494357e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 011_cylinder (evidence > 0.9801992412791197)
current most likely hypothesis: 011_cylinder with evidence 5.44
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-5.43359917e-04  1.54999308e+00 -3.36165047e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 640 out of 640 hypotheses for 011_cylinder (evidence > -0.019631949853541997)
current most likely hypothesis: 011_cylinder with evidence 6.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-8.25721136e-04  1.54999311e+00 -3.09209568e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 793 out of 793 hypotheses for 011_cylinder (evidence > -1.0184365359388003)
current most likely hypothesis: 011_cylinder with evidence 8.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-8.04930481e-04  1.54999693e+00 -3.97332198e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 773 out of 773 hypotheses for 011_cylinder (evidence > -2.0184365359388003)
current most likely hypothesis: 011_cylinder with evidence 9.9
current most likely hypothesis: 011_cylinder with evidence 9.9
current most likely hypothesis: 011_cylinder with evidence 9.9
current most likely hypothesis: 011_cylinder with evidence 9.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-1.23233172e-03  1.54999804e+00 -3.49562951e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 757 out of 757 hypotheses for 011_cylinder (evidence > -3.0184365359388003)
current most likely hypothesis: 011_cylinder with evidence 11.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00171287  1.55000113 -0.00336187]
added symmetry evidence
Symmetry detected for hypotheses [  0   3   4   5   6   7   8   9  10  11  12  13  14  15  17  18  19  22
  23  24  25  26  27  29  30  31  32  33  34  36  37  40  41  42  43  44
  45  46  47  48  49  50  51  53  54  55  58  59  60  61  62  63  64  65
  66  67  68  69  71  72  73  74  75  76  77  78  79  80  81  82  83  84
  85  86  88  91  92  93  94  95  96  97  98  99 101 102 103 104 105 107
 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 128 129
 131 132 133 134 135 136 137 138 139 140 141 142 143 145 146]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.01   1.55   0.008], rotation [ 90.217 359.791 214.106], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 99 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 510 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.99
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 204 out of 204 hypotheses for 011_cylinder (evidence > 0.935211238106017)
current most likely hypothesis: 011_cylinder with evidence 2.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 408 out of 408 hypotheses for 011_cylinder (evidence > 0.8864426719596)
current most likely hypothesis: 011_cylinder with evidence 4.78
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 612 out of 612 hypotheses for 011_cylinder (evidence > 0.9218110182393138)
current most likely hypothesis: 011_cylinder with evidence 6.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-3.69849452e-03  1.49256289e+00 -5.64490036e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 816 out of 816 hypotheses for 011_cylinder (evidence > -0.07816888356867546)
current most likely hypothesis: 011_cylinder with evidence 8.63
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-3.71761055e-03  1.49256332e+00 -5.66811883e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1020 out of 1020 hypotheses for 011_cylinder (evidence > -0.052757633060031006)
current most likely hypothesis: 011_cylinder with evidence 10.57
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-3.69804848e-03  1.49256288e+00 -5.64435860e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1011 out of 1011 hypotheses for 011_cylinder (evidence > -1.049772283226307)
current most likely hypothesis: 011_cylinder with evidence 12.47
current most likely hypothesis: 011_cylinder with evidence 12.47
current most likely hypothesis: 011_cylinder with evidence 12.47
current most likely hypothesis: 011_cylinder with evidence 12.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-3.68523226e-03  1.49138351e+00  9.28667087e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 991 out of 991 hypotheses for 011_cylinder (evidence > -2.0497722832263072)
current most likely hypothesis: 011_cylinder with evidence 14.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-4.76092525e-03  1.49167760e+00 -9.11572028e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 977 out of 977 hypotheses for 011_cylinder (evidence > -2.0589012302504544)
current most likely hypothesis: 011_cylinder with evidence 16.33
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-5.10209916e-03  1.49161618e+00 -1.08384999e-03]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   4   6   7   8   9  10  11  14  15  16  17  18  19  21  22
  24  25  26  28  29  31  33  34  36  37  39  40  41  43  44  45  46  47
  48  49  51  52  53  54  55  56  57  58  59  60  61  62  63  64  65  66
  68  69  70  71  72  73  76  77  79  81  83  85  86  87  88  89  90  91
  92  93  94  95  96  98  99 100 101 102 103 104 105 106 107 108 109 110
 112 113 114 115 116 117 118 119 120 121 122 123 124 125 128 129 130 131
 132 133 134 135 136 137 138 139 140 141 142 143 144 146 147 148 150 151
 153 154 155 156 157 158 159 162 163 164 165 166 169 170 172 173 174 175
 178 179 180 181 182 184 185 187 192]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [ 0.019  1.492 -0.046], rotation [155.659 345.42  160.241], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['011_cylinder'])
Updating existing graph for 011_cylinder
adding 83 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 584 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.98
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 234 out of 234 hypotheses for 011_cylinder (evidence > 0.943773237824532)
current most likely hypothesis: 011_cylinder with evidence 2.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 468 out of 468 hypotheses for 011_cylinder (evidence > -0.053049673262989594)
current most likely hypothesis: 011_cylinder with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 702 out of 702 hypotheses for 011_cylinder (evidence > -0.04806788762893266)
current most likely hypothesis: 011_cylinder with evidence 6.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-1.03263114e-04  1.50593917e+00 -6.83499070e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 936 out of 936 hypotheses for 011_cylinder (evidence > -1.0480678876289327)
current most likely hypothesis: 011_cylinder with evidence 8.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-8.18441545e-05  1.50580669e+00 -6.85529645e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1170 out of 1170 hypotheses for 011_cylinder (evidence > -2.024117921519771)
current most likely hypothesis: 011_cylinder with evidence 10.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-8.80331886e-05  1.50562041e+00 -6.85428071e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1155 out of 1155 hypotheses for 011_cylinder (evidence > -1.0954920099703964)
current most likely hypothesis: 011_cylinder with evidence 12.66
current most likely hypothesis: 011_cylinder with evidence 12.66
current most likely hypothesis: 011_cylinder with evidence 12.66
current most likely hypothesis: 011_cylinder with evidence 12.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-2.46126995e-04  1.50446461e+00 -5.51322174e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1137 out of 1137 hypotheses for 011_cylinder (evidence > -2.095492009970396)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-1.05246650e-04  1.50481211e+00 -5.24033555e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1108 out of 1108 hypotheses for 011_cylinder (evidence > -3.0845063684685723)
current most likely hypothesis: 011_cylinder with evidence 16.59
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-1.04670152e-04  1.50532156e+00 -4.84707043e-03]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   8   9  10  11  12  13  14  15  16  20  21
  23  24  25  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41
  42  43  44  45  46  47  48  49  50  51  52  53  54  55  56  57  58  59
  60  61  62  63  64  65  66  67  68  69  70  71  72  73  74  75  76  77
  79  80  81  82  83  84  86  87  89  90  91  92  93  94  95  96  97  98
  99 100 101 102 103 104 105 107 108 109 112 113 114 115 116 117 119 120
 121 122 123 124 125 126 127 128 130 131 132 133 134 135 136 137 138 139
 140 141 142 143 144 145 146 147 149 150 151 152 153 154 155 156 157 158
 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176
 177 178 179 180 181 182 183 184 185 186 187 188 190 191 192 193 194 196
 197 198 199 200 201 202 203 204 205 206 207 208 209 212 213 214 215 216
 217 218 219 220 221 222 223 224 225]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.05  1.52  0.004], rotation [247.942 295.91  140.457], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 657 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 262 out of 262 hypotheses for 011_cylinder (evidence > 0.9626508397014796)
current most likely hypothesis: 011_cylinder with evidence 2.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 524 out of 524 hypotheses for 011_cylinder (evidence > -0.03547142530110281)
current most likely hypothesis: 011_cylinder with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 786 out of 786 hypotheses for 011_cylinder (evidence > -0.03438020965211663)
current most likely hypothesis: 011_cylinder with evidence 6.85
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01706565  1.49829544  0.00654979]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01711465  1.49830603  0.00653445]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1048 out of 1048 hypotheses for 011_cylinder (evidence > -1.0343802096521166)
current most likely hypothesis: 011_cylinder with evidence 8.82
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01697511  1.49828562  0.00637359]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01688731  1.49826277  0.00631699]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1310 out of 1310 hypotheses for 011_cylinder (evidence > -2.0343802096521166)
current most likely hypothesis: 011_cylinder with evidence 10.78
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01732546  1.4978856   0.00673626]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01707836  1.49780099  0.00661594]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -1.505478140673445)
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01804849  1.49812616  0.00709428]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1282 out of 1282 hypotheses for 011_cylinder (evidence > -1.0481772642591434)
current most likely hypothesis: 011_cylinder with evidence 14.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.01816824  1.49822929  0.00674791]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1243 out of 1243 hypotheses for 011_cylinder (evidence > -2.0481772642591434)
current most likely hypothesis: 011_cylinder with evidence 16.62
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.02058428  1.49854598  0.00882926]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  14  15  16  17  18
  19  20  22  23  24  27  29  30  31  32  33  34  35  36  37  39  40  41
  42  46  47  48  49  51  52  53  54  55  57  58  59  60  61  62  64  65
  66  68  69  70  71  73  74  75  76  77  78  80  81  82  83  85  86  87
  88  89  91  93  95  96  97  99 100 101 102 103 104 106 107 108 109 110
 112 113 114 115 116 117 119 120 121 122 124 125 127 128 129 130 131 132
 133 134 135 136 137 139 140 141 142 143 144 145 146 147 148 149 150 152
 153 154 155 156 158 159 160 163 165 166 167 168 169 170 171 172 174 175
 176 177 178 179 180 181 182 183 184 185 186 187 188 189 191 192 193 195
 196 198 199 201 202 203 204 205 207 208 209 210 212 213 214 215 217 219
 220 222 224 225 226 228 229 230 231 232 234 235 236 237 238 239 240 241
 242 243 244 245 246 247 248 249 250 251 252 253 255 256 257 259 261]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.024  1.518  0.044], rotation [29.695 35.282 44.744], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 12 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 727 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 290 out of 290 hypotheses for 011_cylinder (evidence > 0.9205847024446328)
current most likely hypothesis: 011_cylinder with evidence 2.94
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 580 out of 580 hypotheses for 011_cylinder (evidence > 0.9123013206677036)
current most likely hypothesis: 011_cylinder with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 870 out of 870 hypotheses for 011_cylinder (evidence > -0.08680794702989658)
current most likely hypothesis: 011_cylinder with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01105828  1.50099123  0.01530321]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01109614  1.50099089  0.01535567]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1160 out of 1160 hypotheses for 011_cylinder (evidence > -1.0868079470298966)
current most likely hypothesis: 011_cylinder with evidence 8.8
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01115423  1.50099037  0.01543616]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01117444  1.50099019  0.01546416]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1450 out of 1450 hypotheses for 011_cylinder (evidence > -1.0607771459322313)
current most likely hypothesis: 011_cylinder with evidence 10.78
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01093525  1.50080256  0.01594874]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01088617  1.50080909  0.01582574]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1447 out of 1447 hypotheses for 011_cylinder (evidence > -2.0607771459322315)
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01058143  1.50048512  0.01587826]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.01075778  1.500594    0.01624304]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1427 out of 1427 hypotheses for 011_cylinder (evidence > -3.0607771459322315)
current most likely hypothesis: 011_cylinder with evidence 14.68
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.0108028   1.50063876  0.01635052]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.01084736  1.50071801  0.01648643]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1419 out of 1419 hypotheses for 011_cylinder (evidence > -0.5624677413234505)
current most likely hypothesis: 011_cylinder with evidence 16.63
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01088912  1.50057769  0.01659065]
added symmetry evidence
Symmetry detected for hypotheses [  1   2   3   4   5   7   8   9  10  11  12  13  14  16  17  18  19  20
  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38
  39  40  41  42  44  45  46  47  48  49  50  51  52  54  55  56  57  58
  59  60  61  62  63  64  65  66  68  69  71  72  73  74  75  76  77  78
  79  80  81  82  83  84  85  86  87  88  89  90  91  92  93  94  95  96
  98  99 100 101 102 103 104 105 106 108 109 110 111 112 113 114 115 116
 117 118 119 120 121 123 124 125 126 127 128 129 130 131 132 133 134 135
 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153
 154 155 156 157 158 159 160 161 162 163 164 165 166 168 169 170 171 172
 173 174 175 176 177 178 179 180 181 182 183 184 185 186 188 189 190 191
 193 194 195 196 197 198 199 200 201 202 204 205 206 207 208 209 210 211
 212 213 214 215 216 217 218 220 221 222 223 224 225 226 227 228 229 230
 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248
 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266
 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284
 285 286 287 288 289]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.042  1.479  0.028], rotation [ 36.983  48.543 183.129], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 14 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 798 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 318 out of 318 hypotheses for 011_cylinder (evidence > 0.9400166773658715)
current most likely hypothesis: 011_cylinder with evidence 2.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 636 out of 636 hypotheses for 011_cylinder (evidence > 0.9437873873244709)
current most likely hypothesis: 011_cylinder with evidence 4.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 954 out of 954 hypotheses for 011_cylinder (evidence > -0.05254323187474452)
current most likely hypothesis: 011_cylinder with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [0.00173829 1.49749879 0.02068858]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1272 out of 1272 hypotheses for 011_cylinder (evidence > -1.0485057271445715)
current most likely hypothesis: 011_cylinder with evidence 8.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [0.00175318 1.49749771 0.02086862]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1590 out of 1590 hypotheses for 011_cylinder (evidence > -0.05290779394627232)
current most likely hypothesis: 011_cylinder with evidence 10.8
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [0.00180155 1.49700599 0.02137306]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1585 out of 1585 hypotheses for 011_cylinder (evidence > -1.0529077939462723)
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
current most likely hypothesis: 011_cylinder with evidence 12.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [0.00182435 1.49688325 0.02116374]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1569 out of 1569 hypotheses for 011_cylinder (evidence > -2.0304907318604224)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [0.00184806 1.49696887 0.02126518]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1553 out of 1553 hypotheses for 011_cylinder (evidence > -0.5576833861015797)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [1.48140206e-03 1.49641515e+00 2.17954796e-02]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8  10  11  12  13  14  15  16  17  18
  19  20  21  22  23  24  26  27  28  30  31  32  33  34  35  37  38  39
  41  42  43  44  45  46  47  48  49  50  51  54  55  56  57  59  60  61
  62  63  64  65  66  67  68  69  70  71  72  73  74  75  76  77  78  79
  80  81  82  83  84  86  87  88  89  90  91  92  93  95  97  98  99 100
 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118
 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136
 137 138 139 140 141 142 144 145 146 147 148 149 150 151 152 153 154 156
 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174
 175 176 177 178 179 180 181 182 183 185 186 187 189 190 191 192 193 194
 196 197 198 199 200 201 202 203 204 205 206 207 208 209 213 214 215 216
 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234
 235 236 237 238 239 240 241 242 243 245 246 247 248 249 250 251 252 254
 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273
 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291
 292 293 294 295 296 297 298 299 300 301 303 304 305 306 307 308 309 310
 311 312 313 315 316 317]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.035 1.468 0.035], 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
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 872 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 348 out of 348 hypotheses for 011_cylinder (evidence > 0.9638102298854925)
current most likely hypothesis: 011_cylinder with evidence 2.98
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 696 out of 696 hypotheses for 011_cylinder (evidence > -0.035691094181663274)
current most likely hypothesis: 011_cylinder with evidence 4.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1044 out of 1044 hypotheses for 011_cylinder (evidence > -0.0379521338143739)
current most likely hypothesis: 011_cylinder with evidence 6.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-1.20488779e-03  1.49912668e+00  9.62431632e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1392 out of 1392 hypotheses for 011_cylinder (evidence > -1.037952133814374)
current most likely hypothesis: 011_cylinder with evidence 8.88
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-1.21169036e-03  1.49912641e+00  9.38820972e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1740 out of 1740 hypotheses for 011_cylinder (evidence > -2.037952133814374)
current most likely hypothesis: 011_cylinder with evidence 10.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-1.38740789e-03  1.49890826e+00  9.30740354e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1715 out of 1715 hypotheses for 011_cylinder (evidence > -1.0341758223466448)
current most likely hypothesis: 011_cylinder with evidence 12.78
current most likely hypothesis: 011_cylinder with evidence 12.78
current most likely hypothesis: 011_cylinder with evidence 12.78
current most likely hypothesis: 011_cylinder with evidence 12.78
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00152126  1.4987183   0.00976559]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1710 out of 1710 hypotheses for 011_cylinder (evidence > -2.0326089959427964)
current most likely hypothesis: 011_cylinder with evidence 14.74
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00199065  1.49881161  0.00953599]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1676 out of 1676 hypotheses for 011_cylinder (evidence > -3.0326089959427964)
current most likely hypothesis: 011_cylinder with evidence 16.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00251098  1.49893518  0.01016867]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8  10  11  12  13  14  15  16  18  19
  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35  37  38
  39  40  41  42  43  44  45  46  48  49  50  51  52  53  54  55  57  58
  59  60  61  62  63  64  65  66  67  68  69  70  71  72  73  74  75  76
  77  78  79  81  82  83  84  85  86  89  90  91  93  94  97  98  99 100
 101 102 103 104 106 107 108 109 110 111 112 113 114 115 116 117 118 119
 120 121 122 124 125 126 127 128 129 130 131 133 134 135 136 137 138 140
 141 142 143 144 145 147 148 149 150 151 152 154 156 157 158 159 160 161
 162 163 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180
 181 182 183 184 185 186 187 188 189 190 191 192 193 194 196 197 198 199
 200 201 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 219
 220 221 222 223 224 225 226 227 228 229 231 232 233 235 236 237 238 239
 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257
 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 276
 277 278 279 280 281 283 284 285 286 287 288 289 290 291 292 293 294 295
 296 297 299 300 301 303 304 305 306 307 308 309 310 311 313 314 316 317
 318 319 321 322 323 324 325 326 327 328 329 333 335 336 337 338 339 340
 341 342 343 344 346]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.041 1.533 0.028], rotation [ 31.996 319.004   4.069], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 937 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 374 out of 374 hypotheses for 011_cylinder (evidence > 0.9351839114556103)
current most likely hypothesis: 011_cylinder with evidence 2.97
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 748 out of 748 hypotheses for 011_cylinder (evidence > 0.9578135336302231)
current most likely hypothesis: 011_cylinder with evidence 4.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.0093354   1.4950692   0.00925238]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1122 out of 1122 hypotheses for 011_cylinder (evidence > -0.04064091536416714)
current most likely hypothesis: 011_cylinder with evidence 6.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00943761  1.49506783  0.00935345]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1496 out of 1496 hypotheses for 011_cylinder (evidence > -1.0406409153641671)
current most likely hypothesis: 011_cylinder with evidence 8.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0093347   1.4950692   0.00925169]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1870 out of 1870 hypotheses for 011_cylinder (evidence > -2.0403490331952896)
current most likely hypothesis: 011_cylinder with evidence 10.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00962612  1.49485811  0.00927992]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1859 out of 1859 hypotheses for 011_cylinder (evidence > -1.0595409636985504)
current most likely hypothesis: 011_cylinder with evidence 12.8
current most likely hypothesis: 011_cylinder with evidence 12.8
current most likely hypothesis: 011_cylinder with evidence 12.8
current most likely hypothesis: 011_cylinder with evidence 12.8
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01027568  1.49554454  0.0091198 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1849 out of 1849 hypotheses for 011_cylinder (evidence > -2.0595409636985504)
current most likely hypothesis: 011_cylinder with evidence 14.76
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01027162  1.49546611  0.00901859]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   4   5   6   7   8   9  10  11  14  15  17  18  19  21  22
  23  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40
  41  42  43  44  45  46  47  48  49  50  51  53  54  55  56  57  58  59
  60  61  62  63  64  66  67  68  69  70  72  73  74  75  76  77  78  79
  80  81  82  83  85  86  87  88  89  90  91  92  93  94  95  96  97  98
  99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116
 117 118 119 120 121 123 124 125 126 127 128 129 130 131 132 133 134 135
 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153
 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171
 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189
 190 191 192 193 195 196 198 199 200 201 202 203 204 206 207 208 209 210
 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228
 229 230 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247
 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265
 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 282 283 285
 286 287 288 289 290 291 292 293 294 295 296 297 298 299 301 302 303 304
 305 306 307 308 309 310 311 312 313 314 315 316 317 320 321 322 323 324
 325 326 327 328 329 330 331 332 333 334 335 336 338 339 340 341 342 343
 344 345 347 348 349 350 351 353 355 356 357 358 359 360 361 363 364 365
 366 367 368 369 370 371 372]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.043  1.487  0.025], 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
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 1014 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 406 out of 406 hypotheses for 011_cylinder (evidence > 0.9404739851485076)
current most likely hypothesis: 011_cylinder with evidence 2.97
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 812 out of 812 hypotheses for 011_cylinder (evidence > -0.05803820062105791)
current most likely hypothesis: 011_cylinder with evidence 4.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1218 out of 1218 hypotheses for 011_cylinder (evidence > 0.94936496982671)
current most likely hypothesis: 011_cylinder with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01022413  1.50440479  0.01017448]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1624 out of 1624 hypotheses for 011_cylinder (evidence > -0.05063503017328996)
current most likely hypothesis: 011_cylinder with evidence 8.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01017027  1.50439843  0.01011223]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2030 out of 2030 hypotheses for 011_cylinder (evidence > -1.0378993295369718)
current most likely hypothesis: 011_cylinder with evidence 10.78
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01006857  1.50446288  0.01000803]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2002 out of 2002 hypotheses for 011_cylinder (evidence > -0.061586213750316476)
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
current most likely hypothesis: 011_cylinder with evidence 12.74
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0105528   1.50406824  0.00971915]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1995 out of 1995 hypotheses for 011_cylinder (evidence > -1.0615862137503165)
current most likely hypothesis: 011_cylinder with evidence 14.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01048593  1.50410249  0.00973193]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1955 out of 1955 hypotheses for 011_cylinder (evidence > -2.0615862137503163)
current most likely hypothesis: 011_cylinder 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00989831  1.50423234  0.00944528]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   3   4   5   6   8   9  10  12  13  14  15  16  18  19  20  22
  23  24  25  26  27  28  29  30  31  32  33  35  36  37  38  39  40  41
  42  43  44  45  46  47  48  49  51  52  53  54  55  57  58  59  60  61
  63  64  65  66  67  68  71  72  73  74  75  76  77  78  79  80  81  82
  83  84  85  86  87  88  90  91  92  93  94  95  96  97  98  99 100 101
 102 103 104 105 106 107 109 110 111 112 113 114 115 116 117 119 120 121
 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141
 142 143 144 145 147 148 149 150 151 152 153 154 156 157 158 159 160 161
 162 163 164 165 167 168 169 170 171 172 173 174 175 176 177 178 179 180
 181 182 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199
 200 201 202 203 204 205 206 207 208 209 210 211 213 214 215 216 217 218
 219 220 221 222 223 224 226 227 228 229 230 231 232 233 234 235 236 237
 238 239 240 241 242 243 244 245 246 247 248 250 251 252 253 254 255 256
 257 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275
 277 278 279 280 281 282 283 285 287 289 291 292 293 294 295 296 297 298
 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316
 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 333 334 335
 336 337 338 339 340 341 343 344 345 346 347 348 349 350 351 352 353 354
 355 356 357 358 359 360 361 362 364 365 369 371 372 373 374 375 376 377
 378 379 380 381 382 383 385 386 387 388 389 391 392 393 394 397 398 399
 400 401 402 403 404]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.024  1.521  0.044], rotation [ 32.568  41.39  356.599], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 1080 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 /mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_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}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x7473c8794e20>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7473c87948b0>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7473c87e53a0>, 'learning_module_2': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x7473c8784130>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7473c8870bb0>, 'sensor_module_1': <tbp.monty.frameworks.models.two_d_sensor_module.TwoDSensorModule object at 0x7473c8856730>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x7473c889ee80>, 'sensor_module_3': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x7473c8846760>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'patch_2': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1], [2]], 'lm_to_lm_matrix': [[], [], [0, 1]], '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': '/mnt/results/TBP/data/habitat/versioned_data/compositional_objects_1.4', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'patch_2', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [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], [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], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False, False], 'zooms': [10.0, 30.0, 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.GaussianBlurRGB object at 0x7473c8744790>, <tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x7473c87448b0>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x7473c87448e0>]}, 'train_env_interface_args': {'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 0x7473c8760310>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7473c8771c40>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x7473c8771af0>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'match_criterion': <tbp.monty.experiment.match_criteria.AnyLMsMatch object at 0x7473c8778970>, 'logging': {'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_016_sphere/pretrained'), 'monty_data_logger': <tbp.monty.frameworks.loggers.exp_logger.BaseMontyLogger object at 0x7473c875c490>, 'run_name': 'supervised_pre_training_cows_3d_children-parallel_train_episode_016_sphere', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', '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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- 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 64 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7473b81d86d0>
Added new graph with id 016_sphere to memory.
Model for 016_sphere:
   Contains 64 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 24 out of 24 hypotheses for 016_sphere (evidence > 0.9768877501984822)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 48 out of 48 hypotheses for 016_sphere (evidence > 0.9804364101939967)
current most likely hypothesis: 016_sphere with evidence 3.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 72 out of 72 hypotheses for 016_sphere (evidence > 0.9739997647138559)
current most likely hypothesis: 016_sphere with evidence 5.32
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-8.92477656e-04  1.49905614e+00  4.92585649e-02]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 016_sphere (evidence > 0.9638952303039717)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-8.86923296e-04  1.49906196e+00  4.89459635e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 016_sphere (evidence > 0.9677250706283)
current most likely hypothesis: 016_sphere with evidence 8.22
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-8.86941165e-04  1.49906194e+00  4.89469692e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 016_sphere (evidence > 2.346856253709503)
current most likely hypothesis: 016_sphere with evidence 9.64
current most likely hypothesis: 016_sphere with evidence 9.64
current most likely hypothesis: 016_sphere with evidence 9.64
current most likely hypothesis: 016_sphere with evidence 9.64
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-8.85535601e-04  1.49906341e+00  4.88678636e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 016_sphere (evidence > 3.7393566735127326)
current most likely hypothesis: 016_sphere with evidence 11.1
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-8.79462022e-04  1.49906978e+00  4.85260403e-02]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-8.79484521e-04  1.49906976e+00  4.85273066e-02]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 120 out of 120 hypotheses for 016_sphere (evidence > 5.1197983828812506)
current most likely hypothesis: 016_sphere with evidence 12.57
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-8.84028551e-04  1.49906499e+00  4.87830463e-02]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.008  1.503  0.049], 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
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 69 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 133 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.99
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 48 out of 48 hypotheses for 016_sphere (evidence > 0.9677835786205107)
current most likely hypothesis: 016_sphere with evidence 2.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 96 out of 96 hypotheses for 016_sphere (evidence > 0.9817901587590931)
current most likely hypothesis: 016_sphere 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 144 out of 144 hypotheses for 016_sphere (evidence > 0.9612568260224634)
current most likely hypothesis: 016_sphere with evidence 5.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.02522275  1.47558118  0.0138339 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 016_sphere (evidence > 0.97034480123008)
current most likely hypothesis: 016_sphere with evidence 6.64
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.02510824  1.47568835  0.01377316]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 0.9777119370970709)
current most likely hypothesis: 016_sphere with evidence 8.09
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.02514926  1.47564996  0.01379492]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 2.378193652540122)
current most likely hypothesis: 016_sphere with evidence 9.48
current most likely hypothesis: 016_sphere with evidence 9.48
current most likely hypothesis: 016_sphere with evidence 9.48
current most likely hypothesis: 016_sphere 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.02510822  1.47568837  0.01377315]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 3.7907482858340766)
current most likely hypothesis: 016_sphere with evidence 10.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.02510779  1.47568877  0.01377292]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.02498691  1.47580192  0.0137088 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 5.178253634775219)
current most likely hypothesis: 016_sphere with evidence 12.35
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.02514953  1.47564971  0.01379506]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.045  1.48  -0.008], rotation [249.691  70.727 274.211], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 212 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 80 out of 80 hypotheses for 016_sphere (evidence > 0.9765410571681201)
current most likely hypothesis: 016_sphere with evidence 2.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 160 out of 160 hypotheses for 016_sphere (evidence > 0.9687425846937824)
current most likely hypothesis: 016_sphere with evidence 3.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 0.9666494215836685)
current most likely hypothesis: 016_sphere with evidence 5.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00650342  1.50292109 -0.02525399]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 016_sphere (evidence > 0.9759328328533122)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00647283  1.50290741 -0.02513424]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 400 out of 400 hypotheses for 016_sphere (evidence > -0.02112570292712035)
current most likely hypothesis: 016_sphere with evidence 8.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00650326  1.50292102 -0.02525337]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 400 out of 400 hypotheses for 016_sphere (evidence > 1.321973322634257)
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00641775  1.50288278 -0.02491863]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 400 out of 400 hypotheses for 016_sphere (evidence > 1.368509525265079)
current most likely hypothesis: 016_sphere with evidence 11.12
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00646233  1.50290271 -0.02509312]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 400 out of 400 hypotheses for 016_sphere (evidence > 2.748919008788395)
current most likely hypothesis: 016_sphere with evidence 12.56
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00635551  1.50285496 -0.02467499]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71
 72 73 74 75 76 77 78 79]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-1.000e-03  1.493e+00 -4.900e-02], rotation [176.853   9.263 171.426], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 281 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 112 out of 112 hypotheses for 016_sphere (evidence > 0.9754796401619318)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 224 out of 224 hypotheses for 016_sphere (evidence > 0.9679505449755748)
current most likely hypothesis: 016_sphere with evidence 3.92
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.0031362   1.50362772 -0.01155145]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 336 out of 336 hypotheses for 016_sphere (evidence > 0.9772089305952887)
current most likely hypothesis: 016_sphere with evidence 5.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00314094  1.50363315 -0.01156885]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 448 out of 448 hypotheses for 016_sphere (evidence > 0.9634797067106999)
current most likely hypothesis: 016_sphere with evidence 6.8
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00313619  1.50362771 -0.01155143]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 560 out of 560 hypotheses for 016_sphere (evidence > 0.9831548292614094)
current most likely hypothesis: 016_sphere with evidence 8.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00312135  1.50361072 -0.011497  ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 560 out of 560 hypotheses for 016_sphere (evidence > -0.016845170738590598)
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00313618  1.5036277  -0.01155139]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00312138  1.50361076 -0.01149712]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 560 out of 560 hypotheses for 016_sphere (evidence > 1.3174426318333416)
current most likely hypothesis: 016_sphere with evidence 11.17
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00311078  1.50359862 -0.01145825]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [ 0.     1.511 -0.049], rotation [177.058 357.057 178.853], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 71 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 352 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 136 out of 136 hypotheses for 016_sphere (evidence > 0.9788486841883163)
current most likely hypothesis: 016_sphere with evidence 2.45
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 272 out of 272 hypotheses for 016_sphere (evidence > 0.9696694752360238)
current most likely hypothesis: 016_sphere with evidence 3.92
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 408 out of 408 hypotheses for 016_sphere (evidence > 0.9792146063912629)
current most likely hypothesis: 016_sphere with evidence 5.35
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00212353  1.51516593  0.00237777]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 016_sphere (evidence > 0.9748493594072309)
current most likely hypothesis: 016_sphere with evidence 6.82
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00211405  1.51509468  0.00236687]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00212354  1.51516597  0.00237777]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 680 out of 680 hypotheses for 016_sphere (evidence > 0.9792663556492374)
current most likely hypothesis: 016_sphere with evidence 8.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00211402  1.51509451  0.00236685]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 680 out of 680 hypotheses for 016_sphere (evidence > -0.01921539414600415)
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.002114    1.51509431  0.00236682]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00212659  1.51518893  0.00238129]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 680 out of 680 hypotheses for 016_sphere (evidence > 1.36397246906145)
current most likely hypothesis: 016_sphere with evidence 11.15
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00212352  1.51516587  0.00237776]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.00209662  1.51496378  0.00234685]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 680 out of 680 hypotheses for 016_sphere (evidence > 2.712947847706738)
current most likely hypothesis: 016_sphere with evidence 12.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.00209671  1.51496445  0.00234696]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.004  1.549 -0.009], rotation [ 90.01  359.988  11.553], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 12 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 422 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 168 out of 168 hypotheses for 016_sphere (evidence > 0.977904546383748)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 336 out of 336 hypotheses for 016_sphere (evidence > 0.9752045910489382)
current most likely hypothesis: 016_sphere with evidence 3.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 016_sphere (evidence > 0.9795077191493669)
current most likely hypothesis: 016_sphere with evidence 5.39
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 0.00924819  1.50547102 -0.00918011]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 672 out of 672 hypotheses for 016_sphere (evidence > 0.9756484748874353)
current most likely hypothesis: 016_sphere with evidence 6.85
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 0.00929221  1.50549721 -0.00922397]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [ 0.00924846  1.50547119 -0.00918038]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [ 0.00929163  1.50549686 -0.00922338]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 840 out of 840 hypotheses for 016_sphere (evidence > 0.9750979144863638)
current most likely hypothesis: 016_sphere with evidence 8.31
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [ 0.00924825  1.50547106 -0.00918017]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [ 0.00921733  1.50545267 -0.00914937]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 840 out of 840 hypotheses for 016_sphere (evidence > -0.02387312301702893)
current most likely hypothesis: 016_sphere with evidence 9.74
current most likely hypothesis: 016_sphere with evidence 9.74
current most likely hypothesis: 016_sphere with evidence 9.74
current most likely hypothesis: 016_sphere with evidence 9.74
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [ 0.00916867  1.50542373 -0.00910089]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [ 0.0090805   1.50537129 -0.00901306]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 840 out of 840 hypotheses for 016_sphere (evidence > 1.4186435244630622)
current most likely hypothesis: 016_sphere with evidence 11.19
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [ 0.00916913  1.505424   -0.00910135]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [ 0.00923273  1.50546183 -0.00916471]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 840 out of 840 hypotheses for 016_sphere (evidence > 2.8163398821676955)
current most likely hypothesis: 016_sphere with evidence 12.65
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [ 0.00916836  1.50542355 -0.00910059]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.006 1.451 0.005], rotation [269.993   2.927 184.659], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 14 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 489 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 192 out of 192 hypotheses for 016_sphere (evidence > 0.9765390856011795)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 384 out of 384 hypotheses for 016_sphere (evidence > 0.9759471221551117)
current most likely hypothesis: 016_sphere with evidence 3.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [ 0.00433032  1.51033844 -0.00613516]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 576 out of 576 hypotheses for 016_sphere (evidence > 0.9798364893485193)
current most likely hypothesis: 016_sphere with evidence 5.39
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [ 0.00435129  1.51038755 -0.00616454]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [ 0.00433036  1.51033854 -0.00613521]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 768 out of 768 hypotheses for 016_sphere (evidence > 0.9813284846755945)
current most likely hypothesis: 016_sphere with evidence 6.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [ 0.00435148  1.51038798 -0.0061648 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 016_sphere (evidence > 0.9679799677177204)
current most likely hypothesis: 016_sphere with evidence 8.3
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [ 0.00413757  1.51011373 -0.0061123 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 016_sphere (evidence > 1.3300343089683855)
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [ 0.00399238  1.50997835 -0.00606888]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 016_sphere (evidence > 1.3389703314707853)
current most likely hypothesis: 016_sphere with evidence 11.18
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [ 0.00405562  1.51000414 -0.00606424]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  34  35  36
  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53  54
  55  56  58  59  60  61  62  63  64  65  66  67  68  69  70  71  72  73
  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89  90  91
  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107 108 109
 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127
 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145
 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163
 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181
 182 183 184 185 186 187 188 189 190 191]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [ 0.006  1.45  -0.002], rotation [270.008   2.918 175.312], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 72 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 554 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 216 out of 216 hypotheses for 016_sphere (evidence > 0.9766386834331293)
current most likely hypothesis: 016_sphere with evidence 2.45
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 432 out of 432 hypotheses for 016_sphere (evidence > 0.9699987772734702)
current most likely hypothesis: 016_sphere with evidence 3.92
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 648 out of 648 hypotheses for 016_sphere (evidence > 0.9772591012204861)
current most likely hypothesis: 016_sphere with evidence 5.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00375843  1.50666647 -0.00337967]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 864 out of 864 hypotheses for 016_sphere (evidence > 0.9735490691393215)
current most likely hypothesis: 016_sphere with evidence 6.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00375834  1.50666631 -0.00337959]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1080 out of 1080 hypotheses for 016_sphere (evidence > 0.9669650652678105)
current most likely hypothesis: 016_sphere with evidence 8.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00375872  1.50666699 -0.00337993]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1080 out of 1080 hypotheses for 016_sphere (evidence > 2.3516491181457475)
current most likely hypothesis: 016_sphere with evidence 9.71
current most likely hypothesis: 016_sphere with evidence 9.71
current most likely hypothesis: 016_sphere with evidence 9.71
current most likely hypothesis: 016_sphere with evidence 9.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00374053  1.50663489 -0.00336363]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1080 out of 1080 hypotheses for 016_sphere (evidence > 1.371713200029479)
current most likely hypothesis: 016_sphere with evidence 11.19
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00375829  1.50666622 -0.00337954]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1080 out of 1080 hypotheses for 016_sphere (evidence > 2.74625216044425)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00373676  1.50644351 -0.00320285]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  29  30  31  32  33  34  35  37
  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53  54  55
  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71  72  73
  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89  90  91
  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107 108 109
 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127
 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145
 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163
 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181
 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199
 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.031  1.484  0.036], 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
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 618 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 240 out of 240 hypotheses for 016_sphere (evidence > 0.9779159588171933)
current most likely hypothesis: 016_sphere with evidence 2.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 480 out of 480 hypotheses for 016_sphere (evidence > 0.973225685668047)
current most likely hypothesis: 016_sphere with evidence 3.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 720 out of 720 hypotheses for 016_sphere (evidence > 0.9624320988116672)
current most likely hypothesis: 016_sphere with evidence 5.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-1.23472875e-03  1.50253943e+00  6.18697496e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 016_sphere (evidence > 0.9796285123392853)
current most likely hypothesis: 016_sphere with evidence 6.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-1.23992477e-03  1.50255151e+00  6.21677038e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1200 out of 1200 hypotheses for 016_sphere (evidence > 0.9681501096992189)
current most likely hypothesis: 016_sphere with evidence 8.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-1.22538564e-03  1.50251773e+00  6.13339901e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1200 out of 1200 hypotheses for 016_sphere (evidence > 2.3481072299262964)
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
current most likely hypothesis: 016_sphere with evidence 9.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-1.23108316e-03  1.50253096e+00  6.16607016e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1200 out of 1200 hypotheses for 016_sphere (evidence > 2.817514490417273)
current most likely hypothesis: 016_sphere with evidence 11.18
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-1.23102493e-03  1.50253083e+00  6.16573628e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1200 out of 1200 hypotheses for 016_sphere (evidence > 4.253117311453805)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-1.23287428e-03  1.50253512e+00  6.17634094e-03]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233
 234 235 236 237 238 239]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.008 1.499 0.049], rotation [359.999   0.      3.612], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['016_sphere'])
Updating existing graph for 016_sphere
adding 66 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 678 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 264 out of 264 hypotheses for 016_sphere (evidence > 0.9743105923052344)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 528 out of 528 hypotheses for 016_sphere (evidence > 0.9750012266619897)
current most likely hypothesis: 016_sphere with evidence 3.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [3.49609373e-06 1.50430362e+00 9.79034569e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 792 out of 792 hypotheses for 016_sphere (evidence > 0.980456834056571)
current most likely hypothesis: 016_sphere with evidence 5.37
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [3.37615219e-06 1.50427644e+00 9.72891022e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1056 out of 1056 hypotheses for 016_sphere (evidence > -0.015734611885477756)
current most likely hypothesis: 016_sphere with evidence 6.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [3.37742940e-06 1.50427673e+00 9.72956442e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1320 out of 1320 hypotheses for 016_sphere (evidence > -0.019305967659132173)
current most likely hypothesis: 016_sphere with evidence 8.25
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [3.21460030e-06 1.50423983e+00 9.64616144e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1320 out of 1320 hypotheses for 016_sphere (evidence > 0.3386417920710141)
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
current most likely hypothesis: 016_sphere with evidence 9.69
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [3.31239926e-06 1.50426200e+00 9.69625522e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1319 out of 1319 hypotheses for 016_sphere (evidence > -0.6613582079289859)
current most likely hypothesis: 016_sphere with evidence 11.14
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [3.21373654e-06 1.50423964e+00 9.64571901e-03]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233
 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
 252 253 254 255 256 257 258 259 260 261 262 263]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.041 1.52  0.021], rotation [ 25.308 309.27   56.249], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 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 744 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 016_sphere (evidence > 0.9750745400020575)
current most likely hypothesis: 016_sphere with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 592 out of 592 hypotheses for 016_sphere (evidence > 0.9700581269562132)
current most likely hypothesis: 016_sphere with evidence 3.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 888 out of 888 hypotheses for 016_sphere (evidence > 0.9798708651602073)
current most likely hypothesis: 016_sphere with evidence 5.38
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00539829  1.49875665  0.00332108]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 016_sphere (evidence > 0.9769875766811765)
current most likely hypothesis: 016_sphere with evidence 6.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.0053982   1.49875667  0.00332103]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1480 out of 1480 hypotheses for 016_sphere (evidence > 0.9758321600160486)
current most likely hypothesis: 016_sphere with evidence 8.28
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00535091  1.49876756  0.00329273]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1480 out of 1480 hypotheses for 016_sphere (evidence > 2.3625618641995345)
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
current most likely hypothesis: 016_sphere with evidence 9.73
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.0053799   1.49876088  0.00331008]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1480 out of 1480 hypotheses for 016_sphere (evidence > 3.7411938677013636)
current most likely hypothesis: 016_sphere with evidence 11.18
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.0053792   1.49876104  0.00330966]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.0053887   1.49875885  0.00331535]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1480 out of 1480 hypotheses for 016_sphere (evidence > 5.115902387632379)
current most likely hypothesis: 016_sphere with evidence 12.66
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00537954  1.49876096  0.00330987]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233
 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269
 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
 288 289 290 291 292 293 294 295]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.006  1.506 -0.049], rotation [177.057 357.057 177.593], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 65 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 800 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 320 out of 320 hypotheses for 016_sphere (evidence > 0.9805566088327609)
current most likely hypothesis: 016_sphere with evidence 2.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 640 out of 640 hypotheses for 016_sphere (evidence > 0.9760182975620413)
current most likely hypothesis: 016_sphere with evidence 3.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 960 out of 960 hypotheses for 016_sphere (evidence > 0.9719855925358727)
current most likely hypothesis: 016_sphere with evidence 5.4
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00316552  1.49795667  0.00697869]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1280 out of 1280 hypotheses for 016_sphere (evidence > 0.9746449154900102)
current most likely hypothesis: 016_sphere with evidence 6.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00316555  1.49795665  0.00697874]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1600 out of 1600 hypotheses for 016_sphere (evidence > 0.9800017902296684)
current most likely hypothesis: 016_sphere with evidence 8.31
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00316567  1.49795657  0.00697902]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00315501  1.49796356  0.00695541]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1600 out of 1600 hypotheses for 016_sphere (evidence > 2.321241123818331)
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
current most likely hypothesis: 016_sphere with evidence 9.76
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.0031386   1.49797433  0.00691904]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1600 out of 1600 hypotheses for 016_sphere (evidence > 3.6775904380934037)
current most likely hypothesis: 016_sphere with evidence 11.21
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.0031549   1.49796364  0.00695515]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1600 out of 1600 hypotheses for 016_sphere (evidence > 5.081817817443493)
current most likely hypothesis: 016_sphere with evidence 12.68
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00313834  1.4979745   0.00691847]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233
 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269
 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305
 306 307 308 309 310 311 312 313 314 315 316 317 318 319]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.04   1.511  0.028], rotation [ 34.981  45.006 353.091], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


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 65 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 861 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 344 out of 344 hypotheses for 016_sphere (evidence > 0.9766102463607244)
current most likely hypothesis: 016_sphere with evidence 2.48
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 688 out of 688 hypotheses for 016_sphere (evidence > 0.9771796952551572)
current most likely hypothesis: 016_sphere with evidence 3.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1032 out of 1032 hypotheses for 016_sphere (evidence > 0.9810546244298074)
current most likely hypothesis: 016_sphere with evidence 5.41
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-1.43451250e-03  1.50251680e+00 -4.39543472e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1376 out of 1376 hypotheses for 016_sphere (evidence > 0.9747134949407126)
current most likely hypothesis: 016_sphere with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-1.43459909e-03  1.50251696e+00 -4.39570959e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-1.42804436e-03  1.50250466e+00 -4.37490195e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > 0.9690203154543727)
current most likely hypothesis: 016_sphere with evidence 8.32
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-1.43451086e-03  1.50251680e+00 -4.39542952e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-1.42801221e-03  1.50250460e+00 -4.37479990e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > 2.319896707676701)
current most likely hypothesis: 016_sphere with evidence 9.79
current most likely hypothesis: 016_sphere with evidence 9.79
current most likely hypothesis: 016_sphere with evidence 9.79
current most likely hypothesis: 016_sphere with evidence 9.79
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-1.41609177e-03  1.50248224e+00 -4.33695910e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > 3.7025823001577285)
current most likely hypothesis: 016_sphere with evidence 11.23
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-1.42341424e-03  1.50249598e+00 -4.36020390e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1720 out of 1720 hypotheses for 016_sphere (evidence > 5.08420535961122)
current most likely hypothesis: 016_sphere with evidence 12.68
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-1.42332802e-03  1.50249581e+00 -4.35993019e-03]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233
 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269
 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305
 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323
 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341
 342 343]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.041  1.514  0.026], rotation [ 34.996  45.002 357.44 ], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 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 922 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 /mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_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}, 'motor_system_config': <tbp.monty.frameworks.models.motor_system.MotorSystem object at 0x70bfd1514e80>, 'learning_modules': {'learning_module_0': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x70bfd1514910>, 'learning_module_1': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x70bfd156b400>, 'learning_module_2': <tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM object at 0x70bfd1507190>}, 'sensor_modules': {'sensor_module_0': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x70bfd15efc40>, 'sensor_module_1': <tbp.monty.frameworks.models.two_d_sensor_module.TwoDSensorModule object at 0x70bfd15d6790>, 'sensor_module_2': <tbp.monty.frameworks.models.sensor_modules.CameraSM object at 0x70bfd191efa0>, 'sensor_module_3': <tbp.monty.frameworks.models.sensor_modules.Probe object at 0x70bfd15c6820>}, 'sm_to_agent_dict': {'patch_0': 'agent_id_0', 'patch_1': 'agent_id_0', 'patch_2': 'agent_id_0', 'view_finder': 'agent_id_0'}, 'sm_to_lm_matrix': [[0], [1], [2]], 'lm_to_lm_matrix': [[], [], [0, 1]], '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': '/mnt/results/TBP/data/habitat/versioned_data/compositional_objects_1.4', 'agents': {'agent_args': {'agent_id': 'agent_id_0', 'sensor_ids': ['patch_0', 'patch_1', 'patch_2', 'view_finder'], 'height': 0.0, 'position': [0.0, 1.5, 0.2], 'resolutions': [[64, 64], [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], [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], [1.0, 0.0, 0.0, 0.0]], 'semantics': [False, False, False, False], 'zooms': [10.0, 30.0, 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.GaussianBlurRGB object at 0x70bfd14c47f0>, <tbp.monty.frameworks.environment_utils.transforms.MissingToMaxDepth object at 0x70bfd14c4910>, <tbp.monty.frameworks.environment_utils.transforms.DepthTo3DLocations object at 0x70bfd14c4940>]}, 'train_env_interface_args': {'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 0x70bfd14e0370>, 'positioning_procedures': [<tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x70bfd14f0ca0>, <tbp.monty.frameworks.environments.positioning_procedures.GetGoodViewFactory object at 0x70bfd14f0b50>]}, 'train_env_interface_class': <class 'tbp.monty.experiment.environment.OneObjectPerEpisodeInterface'>, 'match_criterion': <tbp.monty.experiment.match_criteria.AnyLMsMatch object at 0x70bfd14f89d0>, 'logging': {'python_log_level': 'INFO', 'python_log_to_file': True, 'python_log_to_stderr': True, 'output_dir': PosixPath('/mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_023_mug/pretrained'), 'monty_data_logger': <tbp.monty.frameworks.loggers.exp_logger.BaseMontyLogger object at 0x70bfd14dc4f0>, 'run_name': 'supervised_pre_training_cows_3d_children-parallel_train_episode_023_mug', 'log_parallel_wandb': False}, 'show_sensor_output': False, 'n_train_epochs': 1, 'n_eval_epochs': 3, 'model_name_or_path': '', '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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps
Arc correction skipped: |k*p| = 1.9133 >= 1.0 (tangent_projection=0.031223, curvature=61.279066)
Arc correction skipped: |k*p| = 9.0246 >= 1.0 (tangent_projection=0.031617, curvature=-285.440372)
Arc correction skipped: |k*p| = 1.0891 >= 1.0 (tangent_projection=0.011554, curvature=-94.258281)
Arc correction skipped: |k*p| = 6.3077 >= 1.0 (tangent_projection=0.026130, curvature=-241.392670)
Arc correction skipped: |k*p| = 1.1294 >= 1.0 (tangent_projection=-0.030778, curvature=-36.694888)
Arc correction skipped: |k*p| = 1.6514 >= 1.0 (tangent_projection=-0.011751, curvature=140.537935)
Arc correction skipped: |k*p| = 2.0971 >= 1.0 (tangent_projection=0.020548, curvature=102.059371)
Arc correction skipped: |k*p| = 8.3677 >= 1.0 (tangent_projection=0.036595, curvature=228.659240)
Arc correction skipped: |k*p| = 2.4391 >= 1.0 (tangent_projection=0.044991, curvature=-54.212281)
Arc correction skipped: |k*p| = 6.4083 >= 1.0 (tangent_projection=0.075707, curvature=-84.646567)
Arc correction skipped: |k*p| = 2.1708 >= 1.0 (tangent_projection=-0.051343, curvature=42.279592)
Arc correction skipped: |k*p| = 11.8606 >= 1.0 (tangent_projection=-0.073132, curvature=162.181800)
Arc correction skipped: |k*p| = 1.5775 >= 1.0 (tangent_projection=-0.002922, curvature=539.876429)

---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 98 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x70bfc4395640>
Added new graph with id 023_mug to memory.
Model for 023_mug:
   Contains 98 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 38 out of 38 hypotheses for 023_mug (evidence > 0.9517300946472416)
current most likely hypothesis: 023_mug with evidence 2.94
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 76 out of 76 hypotheses for 023_mug (evidence > 0.9597513664555063)
current most likely hypothesis: 023_mug with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 114 out of 114 hypotheses for 023_mug (evidence > 0.9627292384298368)
current most likely hypothesis: 023_mug with evidence 6.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.00640663  1.5047009   0.0401396 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 152 out of 152 hypotheses for 023_mug (evidence > -0.029371338116329193)
current most likely hypothesis: 023_mug with evidence 8.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.00648919  1.50470123  0.03957194]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 190 out of 190 hypotheses for 023_mug (evidence > -1.0293713381163292)
current most likely hypothesis: 023_mug with evidence 10.78
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.00638078  1.50470079  0.0403173 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 185 out of 185 hypotheses for 023_mug (evidence > -0.02856647961293657)
current most likely hypothesis: 023_mug with evidence 12.72
current most likely hypothesis: 023_mug with evidence 12.72
current most likely hypothesis: 023_mug with evidence 12.72
current most likely hypothesis: 023_mug with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.00648929  1.50470123  0.03957124]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.00664656  1.50470186  0.0384899 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 183 out of 183 hypotheses for 023_mug (evidence > 0.8372046865978992)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.00735014  1.50551761  0.03876224]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 182 out of 182 hypotheses for 023_mug (evidence > 0.8080558794323505)
current most likely hypothesis: 023_mug with evidence 16.54
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.00735072  1.50516357  0.03876503]
added symmetry evidence
Symmetry detected for hypotheses [ 0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
 24 25 26 27 28 29 30 31 32 34 35 36 37]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.013  1.474  0.043], rotation [1.87000e-01 3.43444e+02 1.20000e-02], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps
Arc correction skipped: |k*p| = 5.6941 >= 1.0 (tangent_projection=0.007650, curvature=744.331205)
Arc correction skipped: |k*p| = 2.7999 >= 1.0 (tangent_projection=0.050879, curvature=55.031279)
Arc correction skipped: |k*p| = 1.5952 >= 1.0 (tangent_projection=0.067000, curvature=-23.808394)
Arc correction skipped: |k*p| = 1.5041 >= 1.0 (tangent_projection=-0.057034, curvature=-26.371857)
Arc correction skipped: |k*p| = 5.3434 >= 1.0 (tangent_projection=0.038322, curvature=139.434248)
Arc correction skipped: |k*p| = 6.9373 >= 1.0 (tangent_projection=0.079606, curvature=-87.145821)
Arc correction skipped: |k*p| = 1.8770 >= 1.0 (tangent_projection=-0.040834, curvature=-45.966011)
Arc correction skipped: |k*p| = 6.9680 >= 1.0 (tangent_projection=0.044786, curvature=155.584682)

---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 178 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 70 out of 70 hypotheses for 023_mug (evidence > 0.963167388331934)
current most likely hypothesis: 023_mug with evidence 2.96
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 140 out of 140 hypotheses for 023_mug (evidence > -0.0345016462937483)
current most likely hypothesis: 023_mug with evidence 4.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 210 out of 210 hypotheses for 023_mug (evidence > -1.0345016462937484)
current most likely hypothesis: 023_mug with evidence 6.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.04415471  1.49852287  0.01162446]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 280 out of 280 hypotheses for 023_mug (evidence > -1.0339035114128758)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.04379035  1.4985058   0.01121534]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 348 out of 348 hypotheses for 023_mug (evidence > -2.033903511412876)
current most likely hypothesis: 023_mug with evidence 10.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.04360199  1.49726376  0.01138113]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 341 out of 341 hypotheses for 023_mug (evidence > -3.033903511412876)
current most likely hypothesis: 023_mug with evidence 12.81
current most likely hypothesis: 023_mug with evidence 12.81
current most likely hypothesis: 023_mug with evidence 12.81
current most likely hypothesis: 023_mug with evidence 12.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.04430864  1.49739244  0.01185419]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 332 out of 332 hypotheses for 023_mug (evidence > -3.0314916780019403)
current most likely hypothesis: 023_mug with evidence 14.77
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.04346012  1.49739385  0.01145734]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 330 out of 330 hypotheses for 023_mug (evidence > 0.21666544468986348)
current most likely hypothesis: 023_mug with evidence 16.74
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.04177549  1.49752529  0.01207081]
added symmetry evidence
Symmetry detected for hypotheses [ 0  2  3  4  6  7  8  9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
 26 27 28 29 30 31 33 34 35 36 37 38 39 40 41 42 43 44 46 47 48 49 50 51
 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.047  1.501 -0.024], rotation [ 0.694 84.346  0.678], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 3.0649 >= 1.0 (tangent_projection=-0.012364, curvature=-247.895965)
Arc correction skipped: |k*p| = 3.4045 >= 1.0 (tangent_projection=-0.028928, curvature=117.689229)
Arc correction skipped: |k*p| = 2.6611 >= 1.0 (tangent_projection=0.031290, curvature=85.046234)
Arc correction skipped: |k*p| = 1.8743 >= 1.0 (tangent_projection=0.049746, curvature=-37.677892)
Arc correction skipped: |k*p| = 3.0156 >= 1.0 (tangent_projection=0.075150, curvature=-40.127716)
Arc correction skipped: |k*p| = 9.3171 >= 1.0 (tangent_projection=0.089079, curvature=-104.593733)
Arc correction skipped: |k*p| = 13.5680 >= 1.0 (tangent_projection=-0.093034, curvature=145.838017)

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 95 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 273 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.79
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 108 out of 108 hypotheses for 023_mug (evidence > 0.6862626945175533)
current most likely hypothesis: 023_mug with evidence 2.52
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 216 out of 216 hypotheses for 023_mug (evidence > 0.6561291435429488)
current most likely hypothesis: 023_mug with evidence 4.07
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 324 out of 324 hypotheses for 023_mug (evidence > 0.575656075439357)
current most likely hypothesis: 023_mug with evidence 5.62
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01867076  1.51010202 -0.00257045]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 432 out of 432 hypotheses for 023_mug (evidence > 0.572878292944384)
current most likely hypothesis: 023_mug with evidence 7.19
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01866603  1.51010368 -0.00256806]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 540 out of 540 hypotheses for 023_mug (evidence > 0.5840322580645161)
current most likely hypothesis: 023_mug with evidence 8.8
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0186647   1.51010415 -0.00256739]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 540 out of 540 hypotheses for 023_mug (evidence > 1.7317364513464835)
current most likely hypothesis: 023_mug with evidence 10.17
current most likely hypothesis: 023_mug with evidence 10.17
current most likely hypothesis: 023_mug with evidence 10.17
current most likely hypothesis: 023_mug with evidence 10.17
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01860128  1.5101264  -0.00253526]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 540 out of 540 hypotheses for 023_mug (evidence > 2.5390292452819843)
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01860211  1.5101261  -0.00253568]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 540 out of 540 hypotheses for 023_mug (evidence > 3.374174542827253)
current most likely hypothesis: 023_mug with evidence 13.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01867042  1.51010214 -0.00257028]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   8   9  10  11  12  13  14  15  16  17  18
  19  20  21  23  24  25  26  27  28  30  31  32  33  34  35  37  38  39
  40  42  43  44  45  46  47  48  49  50  51  52  53  54  55  56  57  58
  59  60  62  63  64  65  66  67  68  69  70  71  72  73  74  75  77  78
  79  80  81  82  84  85  86  87  88  89  91  92  93  94  96  97  98  99
 100 101 102 103 104 105 106 107]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.029  1.455 -0.039], rotation [193.298 356.143  98.226], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 4.8606 >= 1.0 (tangent_projection=0.018437, curvature=-263.639757)
Arc correction skipped: |k*p| = 2.5676 >= 1.0 (tangent_projection=-0.019287, curvature=-133.121885)
Arc correction skipped: |k*p| = 5.7317 >= 1.0 (tangent_projection=0.021226, curvature=-270.028671)
Arc correction skipped: |k*p| = 2.4341 >= 1.0 (tangent_projection=-0.022316, curvature=-109.073658)
Arc correction skipped: |k*p| = 4.9728 >= 1.0 (tangent_projection=0.023952, curvature=-207.613610)
Arc correction skipped: |k*p| = 1.9437 >= 1.0 (tangent_projection=-0.027204, curvature=-71.448900)
Arc correction skipped: |k*p| = 1.0508 >= 1.0 (tangent_projection=-0.061604, curvature=-17.057656)
Arc correction skipped: |k*p| = 13.2083 >= 1.0 (tangent_projection=0.077829, curvature=169.708829)
Arc correction skipped: |k*p| = 1.1919 >= 1.0 (tangent_projection=0.024505, curvature=48.637817)
Arc correction skipped: |k*p| = 2.5163 >= 1.0 (tangent_projection=-0.032690, curvature=-76.975012)
Arc correction skipped: |k*p| = 1.3903 >= 1.0 (tangent_projection=0.008613, curvature=-161.414845)
Arc correction skipped: |k*p| = 2.8920 >= 1.0 (tangent_projection=-0.084478, curvature=-34.233419)
Arc correction skipped: |k*p| = 3.1684 >= 1.0 (tangent_projection=-0.022022, curvature=143.875509)
Arc correction skipped: |k*p| = 2.1241 >= 1.0 (tangent_projection=-0.032939, curvature=-64.486747)
Arc correction skipped: |k*p| = 9.9056 >= 1.0 (tangent_projection=-0.085743, curvature=-115.525961)
Arc correction skipped: |k*p| = 18.6356 >= 1.0 (tangent_projection=-0.046643, curvature=399.538707)
Arc correction skipped: |k*p| = 1.1259 >= 1.0 (tangent_projection=-0.013022, curvature=86.457780)

---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 356 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 136 out of 136 hypotheses for 023_mug (evidence > 0.7748601172502224)
current most likely hypothesis: 023_mug with evidence 2.03
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 272 out of 272 hypotheses for 023_mug (evidence > -0.2226160817474614)
current most likely hypothesis: 023_mug with evidence 3.3
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 408 out of 408 hypotheses for 023_mug (evidence > -1.2226160817474614)
current most likely hypothesis: 023_mug with evidence 4.58
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01687014  1.50161509  0.02711623]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 544 out of 544 hypotheses for 023_mug (evidence > -1.2687230263441343)
current most likely hypothesis: 023_mug with evidence 5.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01726579  1.50253572  0.02805455]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 674 out of 674 hypotheses for 023_mug (evidence > -0.3269980842882434)
current most likely hypothesis: 023_mug with evidence 6.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01716392  1.50250593  0.02865333]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 599 out of 599 hypotheses for 023_mug (evidence > -1.2284855370943175)
current most likely hypothesis: 023_mug with evidence 8.04
current most likely hypothesis: 023_mug with evidence 8.04
current most likely hypothesis: 023_mug with evidence 8.04
current most likely hypothesis: 023_mug with evidence 8.04
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01732307  1.50296378  0.02945902]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 505 out of 505 hypotheses for 023_mug (evidence > -1.21791130223099)
current most likely hypothesis: 023_mug with evidence 9.08
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.0180801   1.50389975  0.03030184]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 456 out of 456 hypotheses for 023_mug (evidence > -2.217690473518158)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01528852  1.50603318  0.03123141]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 1.2871 >= 1.0 (tangent_projection=0.013004, curvature=98.976964)
Sending input from ['patch_0'] to learning_module_0
Testing 368 out of 368 hypotheses for 023_mug (evidence > -3.217690473518158)
current most likely hypothesis: 023_mug with evidence 10.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01540602  1.51597523  0.03519042]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 288 out of 288 hypotheses for 023_mug (evidence > 1.8862897124062101)
current most likely hypothesis: 023_mug with evidence 11.56
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.01699591  1.51811792  0.03652655]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 280 out of 280 hypotheses for 023_mug (evidence > 2.635773614454169)
current most likely hypothesis: 023_mug with evidence 12.56
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.02010274  1.50700393  0.03005736]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 248 out of 248 hypotheses for 023_mug (evidence > 3.6715864139118555)
current most likely hypothesis: 023_mug with evidence 13.5
current most likely hypothesis: 023_mug with evidence 13.5
current most likely hypothesis: 023_mug with evidence 13.5
current most likely hypothesis: 023_mug with evidence 13.5
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.02159125  1.50120444  0.02993889]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 194 out of 194 hypotheses for 023_mug (evidence > 4.003616758937239)
current most likely hypothesis: 023_mug with evidence 13.0
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01537934  1.50920149  0.03658209]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 130 out of 130 hypotheses for 023_mug (evidence > 3.8645187440295894)
current most likely hypothesis: 023_mug with evidence 13.73
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.00849311  1.49342776  0.03628   ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 233 out of 233 hypotheses for 023_mug (evidence > 0.7777160309268366)
current most likely hypothesis: 023_mug with evidence 14.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.00564406  1.49343571  0.03506015]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 342 out of 342 hypotheses for 023_mug (evidence > 0.6171215379681535)
current most likely hypothesis: 023_mug with evidence 15.09
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.01767173  1.50079271  0.03019885]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 468 out of 468 hypotheses for 023_mug (evidence > -0.3693351325453219)
current most likely hypothesis: 023_mug with evidence 15.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.02077325  1.50551258  0.03460945]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 600 out of 600 hypotheses for 023_mug (evidence > -1.3693351325453218)
current most likely hypothesis: 023_mug with evidence 16.18
current most likely hypothesis: 023_mug with evidence 16.18
current most likely hypothesis: 023_mug with evidence 16.18
current most likely hypothesis: 023_mug with evidence 16.18
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.02144963  1.50541798  0.03642373]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Arc correction skipped: |k*p| = 1.2142 >= 1.0 (tangent_projection=0.012736, curvature=95.335532)
Sending input from ['patch_0'] to learning_module_0
Testing 670 out of 670 hypotheses for 023_mug (evidence > -2.369335132545322)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 20 ---
all possible locations are in radius 0.1 of [-0.02031489  1.5115482   0.04398651]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 514 out of 514 hypotheses for 023_mug (evidence > -3.369335132545322)
current most likely hypothesis: 023_mug with evidence 15.1
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [-0.02080331  1.50739583  0.06837124]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 322 out of 322 hypotheses for 023_mug (evidence > -3.420284114415555)
current most likely hypothesis: 023_mug with evidence 14.1
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [-0.01618446  1.51159674  0.04984282]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 292 out of 292 hypotheses for 023_mug (evidence > -3.431583011724175)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 23 ---
all possible locations are in radius 0.1 of [-0.02208752  1.52156743  0.0437764 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 272 out of 272 hypotheses for 023_mug (evidence > -3.436116538690068)
current most likely hypothesis: 023_mug with evidence 2.63
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 24 ---
all possible locations are in radius 0.1 of [0.00160164 1.51384358 0.00601303]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 408 out of 408 hypotheses for 023_mug (evidence > -1.3096242827482718)
current most likely hypothesis: 023_mug with evidence 2.66
current most likely hypothesis: 023_mug with evidence 2.66
current most likely hypothesis: 023_mug with evidence 2.66
current most likely hypothesis: 023_mug with evidence 2.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 25 ---
all possible locations are in radius 0.1 of [0.029035   1.51215416 0.01667039]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.029 1.512 0.017], rotation [309.205  15.387 167.329], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 25 steps
Arc correction skipped: |k*p| = 2.7501 >= 1.0 (tangent_projection=-0.017275, curvature=159.197502)
Arc correction skipped: |k*p| = 1.0404 >= 1.0 (tangent_projection=0.006633, curvature=156.852132)
Arc correction skipped: |k*p| = 2.7409 >= 1.0 (tangent_projection=-0.004440, curvature=-617.342362)
Arc correction skipped: |k*p| = 1.0745 >= 1.0 (tangent_projection=-0.006327, curvature=-169.835693)
Arc correction skipped: |k*p| = 2.0094 >= 1.0 (tangent_projection=-0.002729, curvature=-736.295243)
Arc correction skipped: |k*p| = 1.7440 >= 1.0 (tangent_projection=-0.002525, curvature=-690.576883)
Arc correction skipped: |k*p| = 1.0267 >= 1.0 (tangent_projection=0.002475, curvature=-414.786188)
Arc correction skipped: |k*p| = 2.1985 >= 1.0 (tangent_projection=-0.005075, curvature=-433.176912)
Arc correction skipped: |k*p| = 1.1170 >= 1.0 (tangent_projection=-0.003825, curvature=-292.008302)
Arc correction skipped: |k*p| = 1.1837 >= 1.0 (tangent_projection=0.008568, curvature=-138.144576)
Arc correction skipped: |k*p| = 1.1610 >= 1.0 (tangent_projection=0.008736, curvature=-132.895816)
Arc correction skipped: |k*p| = 17.8704 >= 1.0 (tangent_projection=0.052752, curvature=-338.761053)
Arc correction skipped: |k*p| = 1.1783 >= 1.0 (tangent_projection=-0.020715, curvature=-56.880612)

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 155 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 507 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.98
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 200 out of 200 hypotheses for 023_mug (evidence > 0.7614552587454206)
current most likely hypothesis: 023_mug with evidence 2.45
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 400 out of 400 hypotheses for 023_mug (evidence > -0.2236965860566249)
current most likely hypothesis: 023_mug with evidence 3.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 600 out of 600 hypotheses for 023_mug (evidence > -0.2308479395068337)
current most likely hypothesis: 023_mug with evidence 5.36
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-9.21011508e-03  1.45064849e+00  9.35896000e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 800 out of 800 hypotheses for 023_mug (evidence > -0.27425076799965076)
current most likely hypothesis: 023_mug with evidence 6.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-9.43059208e-03  1.45064798e+00  4.30885569e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1000 out of 1000 hypotheses for 023_mug (evidence > -1.2742507679996509)
current most likely hypothesis: 023_mug with evidence 8.31
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-9.30137397e-03  1.45064681e+00  8.95799292e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 998 out of 998 hypotheses for 023_mug (evidence > -0.27834541172259386)
current most likely hypothesis: 023_mug with evidence 9.8
current most likely hypothesis: 023_mug with evidence 9.8
current most likely hypothesis: 023_mug with evidence 9.8
current most likely hypothesis: 023_mug with evidence 9.8
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-9.00786377e-03  1.45064247e+00  9.17536506e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 991 out of 991 hypotheses for 023_mug (evidence > -1.225095166961459)
current most likely hypothesis: 023_mug with evidence 11.27
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-9.14974805e-03  1.45064501e+00  1.38387359e-03]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 965 out of 965 hypotheses for 023_mug (evidence > -2.225095166961459)
current most likely hypothesis: 023_mug with evidence 12.73
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-9.14892886e-03  1.45064598e+00  6.13481814e-04]
added symmetry evidence
Symmetry detected for hypotheses [ 19  20  21  22  23  24  44  46  47  48  49  69  71  72  74  94  96  97
  99 118 120 122 123 124 143 145 147 148 149 168 170 172 173 174 193 194
 195 196 197 198]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [ 0.003  1.451 -0.   ], rotation [ 90.    359.923 225.   ], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.8047 >= 1.0 (tangent_projection=-0.008549, curvature=-211.111021)
Arc correction skipped: |k*p| = 1.0412 >= 1.0 (tangent_projection=-0.012313, curvature=-84.561874)
Arc correction skipped: |k*p| = 7.3482 >= 1.0 (tangent_projection=-0.058237, curvature=-126.178034)
Arc correction skipped: |k*p| = 10.8691 >= 1.0 (tangent_projection=-0.065882, curvature=-164.979297)

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 76 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 583 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 232 out of 232 hypotheses for 023_mug (evidence > 0.9301651253362817)
current most likely hypothesis: 023_mug with evidence 2.93
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 464 out of 464 hypotheses for 023_mug (evidence > 0.9390675258740437)
current most likely hypothesis: 023_mug with evidence 4.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 696 out of 696 hypotheses for 023_mug (evidence > -0.055339657954718624)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01745373  1.4986025  -0.00758391]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 928 out of 928 hypotheses for 023_mug (evidence > 0.4833769446138776)
current most likely hypothesis: 023_mug with evidence 8.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01732788  1.49857832 -0.00747902]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1160 out of 1160 hypotheses for 023_mug (evidence > -0.0675284323818941)
current most likely hypothesis: 023_mug with evidence 10.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01750032  1.49843818 -0.00719767]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1160 out of 1160 hypotheses for 023_mug (evidence > -0.5083790132093022)
current most likely hypothesis: 023_mug with evidence 12.62
current most likely hypothesis: 023_mug with evidence 12.62
current most likely hypothesis: 023_mug with evidence 12.62
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01747023  1.49894964 -0.00742077]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1150 out of 1150 hypotheses for 023_mug (evidence > -1.3778879216279858)
current most likely hypothesis: 023_mug with evidence 14.55
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01753406  1.49923077 -0.00726503]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1147 out of 1147 hypotheses for 023_mug (evidence > 0.13577886096587477)
current most likely hypothesis: 023_mug with evidence 16.46
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01904252  1.49877076 -0.00724831]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   8   9  10  11  12  13  14  15  16  17  18
  19  20  21  22  23  24  25  26  27  28  29  30  31  32  34  35  36  37
  38  39  40  43  44  45  47  48  49  50  51  52  53  54  55  56  57  59
  60  61  62  63  64  65  66  68  70  71  72  73  74  75  76  78  79  80
  81  82  83  85  86  87  88  90  91  92  93  94  95  97  98  99 100 101
 102 103 104 105 106 108 109 111 112 113 114 116 118 119 120 121 123 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 147 148 149 150 151 152 153 154 155 156 157 159 160 161 162 163
 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181
 182 183 184 185 186 188 189 190 191 192 193 194 195 196 197 198 199 200
 201 202 203 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219
 221 222 223 224 225 226 227 228 229 230 231]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [ 0.018  1.518 -0.029], rotation [204.241 348.756 328.728], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 4.6265 >= 1.0 (tangent_projection=0.002825, curvature=1637.605385)
Arc correction skipped: |k*p| = 2.9156 >= 1.0 (tangent_projection=0.002910, curvature=1001.964235)
Arc correction skipped: |k*p| = 2.9484 >= 1.0 (tangent_projection=-0.004340, curvature=-679.419552)
Arc correction skipped: |k*p| = 1.2566 >= 1.0 (tangent_projection=-0.085928, curvature=14.623580)
Arc correction skipped: |k*p| = 2.9081 >= 1.0 (tangent_projection=-0.006855, curvature=-424.254106)
Arc correction skipped: |k*p| = 2.0783 >= 1.0 (tangent_projection=0.001263, curvature=1645.020061)

---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 660 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.96
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 264 out of 264 hypotheses for 023_mug (evidence > 0.8768913525392282)
current most likely hypothesis: 023_mug with evidence 2.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 528 out of 528 hypotheses for 023_mug (evidence > 0.30631791712907186)
current most likely hypothesis: 023_mug with evidence 4.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 792 out of 792 hypotheses for 023_mug (evidence > 0.8663559302853564)
current most likely hypothesis: 023_mug with evidence 6.73
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01779731  1.49982658  0.00598695]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1056 out of 1056 hypotheses for 023_mug (evidence > -0.10723990116688642)
current most likely hypothesis: 023_mug with evidence 8.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01756805  1.49998377  0.00596121]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1320 out of 1320 hypotheses for 023_mug (evidence > -0.6348019862230078)
current most likely hypothesis: 023_mug with evidence 10.56
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0179619   1.49997198  0.00598123]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1320 out of 1320 hypotheses for 023_mug (evidence > -1.172606642489883)
current most likely hypothesis: 023_mug with evidence 12.5
current most likely hypothesis: 023_mug with evidence 12.5
current most likely hypothesis: 023_mug with evidence 12.5
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01823289  1.50031191  0.00605397]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1318 out of 1318 hypotheses for 023_mug (evidence > 0.0005711290811101222)
current most likely hypothesis: 023_mug with evidence 14.44
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01811127  1.50008858  0.00607479]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1315 out of 1315 hypotheses for 023_mug (evidence > 1.231804100607171)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01901009  1.50013734  0.00605606]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  16  17  18
  19  20  21  22  23  24  25  26  27  28  29  30  31  33  34  35  36  37
  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53  54  55
  56  57  58  59  60  61  62  63  64  65  66  67  69  70  71  72  73  74
  75  76  77  78  79  80  81  82  84  85  87  88  89  90  91  92  93  94
  95  96  97  98 100 101 102 103 104 105 106 107 108 109 110 111 112 113
 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131
 132 133 134 135 136 137 139 140 141 142 143 144 145 147 148 149 150 151
 152 153 154 156 157 158 159 161 162 163 164 165 166 167 168 169 170 171
 172 173 175 176 177 178 179 180 181 182 184 185 186 187 188 189 190 191
 192 193 194 195 196 197 198 199 201 202 203 204 205 206 207 208 209 210
 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229
 230 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248
 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.016  1.513  0.042], rotation [336.125 359.629  26.49 ], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.7159 >= 1.0 (tangent_projection=-0.004300, curvature=-399.017695)
Arc correction skipped: |k*p| = 7.4939 >= 1.0 (tangent_projection=0.028615, curvature=261.887691)
Arc correction skipped: |k*p| = 11.2528 >= 1.0 (tangent_projection=-0.032910, curvature=341.928063)
Arc correction skipped: |k*p| = 2.4464 >= 1.0 (tangent_projection=-0.015855, curvature=-154.304494)
Arc correction skipped: |k*p| = 5.0418 >= 1.0 (tangent_projection=-0.026233, curvature=192.196353)
Arc correction skipped: |k*p| = 1.1369 >= 1.0 (tangent_projection=-0.011495, curvature=-98.899243)

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 85 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 728 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 0.98
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 290 out of 290 hypotheses for 023_mug (evidence > 0.9426767002904721)
current most likely hypothesis: 023_mug with evidence 2.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 580 out of 580 hypotheses for 023_mug (evidence > 0.4672488861587393)
current most likely hypothesis: 023_mug with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 870 out of 870 hypotheses for 023_mug (evidence > -0.05542189366828387)
current most likely hypothesis: 023_mug with evidence 6.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-2.14855574e-02  1.50101601e+00  2.13201769e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1160 out of 1160 hypotheses for 023_mug (evidence > 0.5403543817235478)
current most likely hypothesis: 023_mug with evidence 8.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-2.31434361e-02  1.50075561e+00 -1.57238987e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1450 out of 1450 hypotheses for 023_mug (evidence > -0.034831513100309075)
current most likely hypothesis: 023_mug with evidence 10.09
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-2.33007514e-02  1.50038952e+00  5.43556283e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1449 out of 1449 hypotheses for 023_mug (evidence > -0.4699097456126521)
current most likely hypothesis: 023_mug with evidence 11.63
current most likely hypothesis: 023_mug with evidence 11.63
current most likely hypothesis: 023_mug with evidence 11.63
current most likely hypothesis: 023_mug with evidence 11.63
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-2.33491348e-02  1.50048143e+00  2.53143711e-06]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-2.34347048e-02  1.50046815e+00 -1.03939211e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1435 out of 1435 hypotheses for 023_mug (evidence > -0.8280374138327633)
current most likely hypothesis: 023_mug with evidence 13.52
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-2.32715867e-02  1.50063611e+00 -3.52639890e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-2.31551883e-02  1.50062995e+00 -4.42860996e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1423 out of 1423 hypotheses for 023_mug (evidence > -0.8584230991491593)
current most likely hypothesis: 023_mug with evidence 15.47
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-2.45804791e-02  1.50056538e+00 -6.70953524e-04]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   6   7   8   9  10  11  12  13  14  15  16  17  18
  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  35  36  37
  38  39  40  41  42  43  45  46  47  48  50  51  52  53  54  55  56  58
  59  60  61  62  63  64  65  66  68  69  70  71  72  73  75  76  77  78
  79  80  81  82  83  84  85  87  88  89  90  91  92  93  94  95  96  97
  98  99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 115 116
 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134
 135 136 137 138 139 140 141 143 145 147 148 149 151 152 153 155 156 157
 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175
 176 177 178 179 180 181 182 183 185 186 187 188 190 191 192 195 196 197
 198 199 200 201 203 204 205 206 207 208 209 210 211 212 213 214 215 216
 217 218 220 221 222 223 224 225 226 228 229 230 232 233 234 235 236 237
 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273
 274 275 276 277 278 279 280 281 282 283 284 285 286 288]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.045  1.491  0.027], rotation [323.302  47.887 177.434], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps
Arc correction skipped: |k*p| = 1.7845 >= 1.0 (tangent_projection=-0.003928, curvature=454.315150)
Arc correction skipped: |k*p| = 1.8540 >= 1.0 (tangent_projection=-0.014287, curvature=-129.767390)
Arc correction skipped: |k*p| = 1.7841 >= 1.0 (tangent_projection=-0.005447, curvature=327.522141)
Arc correction skipped: |k*p| = 1.2510 >= 1.0 (tangent_projection=0.003365, curvature=371.723659)
Arc correction skipped: |k*p| = 1.9578 >= 1.0 (tangent_projection=0.009666, curvature=-202.539558)
Arc correction skipped: |k*p| = 3.9499 >= 1.0 (tangent_projection=0.020433, curvature=-193.311823)
Arc correction skipped: |k*p| = 13.3979 >= 1.0 (tangent_projection=-0.017969, curvature=-745.627861)
Arc correction skipped: |k*p| = 13.4217 >= 1.0 (tangent_projection=0.029004, curvature=-462.756136)
Arc correction skipped: |k*p| = 1.2512 >= 1.0 (tangent_projection=-0.004710, curvature=-265.663268)
Arc correction skipped: |k*p| = 5.3960 >= 1.0 (tangent_projection=-0.032940, curvature=-163.810953)
Arc correction skipped: |k*p| = 8.8636 >= 1.0 (tangent_projection=0.022050, curvature=-401.976575)
Arc correction skipped: |k*p| = 2.6291 >= 1.0 (tangent_projection=-0.003021, curvature=870.175537)
Arc correction skipped: |k*p| = 4.5033 >= 1.0 (tangent_projection=0.004201, curvature=1071.989510)
Arc correction skipped: |k*p| = 57.0702 >= 1.0 (tangent_projection=0.076927, curvature=-741.877140)
Arc correction skipped: |k*p| = 10.5044 >= 1.0 (tangent_projection=-0.021617, curvature=-485.938907)
Arc correction skipped: |k*p| = 7.1335 >= 1.0 (tangent_projection=0.026530, curvature=268.882935)
Arc correction skipped: |k*p| = 1.1918 >= 1.0 (tangent_projection=-0.002620, curvature=-454.987929)

---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 816 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 326 out of 326 hypotheses for 023_mug (evidence > 0.9346303068413008)
current most likely hypothesis: 023_mug with evidence 2.94
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.02001294  1.49706344  0.0107718 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01992029  1.49703342  0.01062054]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 652 out of 652 hypotheses for 023_mug (evidence > 0.9129283102407391)
current most likely hypothesis: 023_mug with evidence 4.89
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01992655  1.4973206   0.00992163]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 978 out of 978 hypotheses for 023_mug (evidence > 0.3265108024462262)
current most likely hypothesis: 023_mug with evidence 6.84
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.02012526  1.49728549  0.01025141]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1304 out of 1304 hypotheses for 023_mug (evidence > 0.3229213428896309)
current most likely hypothesis: 023_mug with evidence 8.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.02016671  1.49728083  0.01036526]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1630 out of 1630 hypotheses for 023_mug (evidence > 0.05928903375669936)
current most likely hypothesis: 023_mug with evidence 10.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01975182  1.49703552  0.00967472]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1627 out of 1627 hypotheses for 023_mug (evidence > 0.4051884652172174)
current most likely hypothesis: 023_mug with evidence 12.71
current most likely hypothesis: 023_mug with evidence 12.71
current most likely hypothesis: 023_mug with evidence 12.71
current most likely hypothesis: 023_mug with evidence 12.71
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01992405  1.49732732  0.01012604]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8  10  11  12  13  14  15  16  17  18
  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35  36
  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53  54
  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71  72
  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89  90
  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107 108
 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126
 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144
 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162
 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180
 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198
 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216
 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234
 235 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253
 254 255 256 257 258 259 260 261 262 263 264 265 266 268 269 270 271 272
 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290
 291 292 293 294 295 296 297 299 300 301 302 303 304 305 306 307 308 309
 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.007  1.509  0.042], rotation [335.973  10.073 329.187], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps
Arc correction skipped: |k*p| = 1.4604 >= 1.0 (tangent_projection=0.004298, curvature=339.759103)
Arc correction skipped: |k*p| = 1.1398 >= 1.0 (tangent_projection=-0.002939, curvature=-387.863587)
Arc correction skipped: |k*p| = 1.2858 >= 1.0 (tangent_projection=-0.002702, curvature=-475.906365)
Arc correction skipped: |k*p| = 1.3973 >= 1.0 (tangent_projection=0.002232, curvature=626.131513)
Arc correction skipped: |k*p| = 1.1789 >= 1.0 (tangent_projection=0.005504, curvature=-214.204548)
Arc correction skipped: |k*p| = 2.1795 >= 1.0 (tangent_projection=0.006362, curvature=342.591677)
Arc correction skipped: |k*p| = 1.5489 >= 1.0 (tangent_projection=0.004972, curvature=311.531847)
Arc correction skipped: |k*p| = 1.0752 >= 1.0 (tangent_projection=0.022538, curvature=-47.706221)
Arc correction skipped: |k*p| = 1.3713 >= 1.0 (tangent_projection=0.004201, curvature=-326.448470)
Arc correction skipped: |k*p| = 4.0431 >= 1.0 (tangent_projection=0.006090, curvature=663.864813)
Arc correction skipped: |k*p| = 2.0265 >= 1.0 (tangent_projection=0.006258, curvature=-323.824278)
Arc correction skipped: |k*p| = 3.7679 >= 1.0 (tangent_projection=0.027691, curvature=-136.071421)
Arc correction skipped: |k*p| = 1.7512 >= 1.0 (tangent_projection=0.028004, curvature=-62.533375)
Arc correction skipped: |k*p| = 1.4769 >= 1.0 (tangent_projection=0.002288, curvature=-645.511003)
Arc correction skipped: |k*p| = 2.6146 >= 1.0 (tangent_projection=0.003280, curvature=797.161341)
Arc correction skipped: |k*p| = 3.8656 >= 1.0 (tangent_projection=0.022737, curvature=170.011025)
Arc correction skipped: |k*p| = 10.2132 >= 1.0 (tangent_projection=0.021084, curvature=-484.401985)
Arc correction skipped: |k*p| = 13.6910 >= 1.0 (tangent_projection=0.040810, curvature=-335.478925)
Arc correction skipped: |k*p| = 1.6431 >= 1.0 (tangent_projection=0.002871, curvature=-572.263620)
Arc correction skipped: |k*p| = 1.3411 >= 1.0 (tangent_projection=0.001659, curvature=-808.345259)

---Updating memory of learning_module_0---
023_mug already in memory (['023_mug'])
Updating existing graph for 023_mug
adding 100 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 894 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 358 out of 358 hypotheses for 023_mug (evidence > 0.909162742403802)
current most likely hypothesis: 023_mug with evidence 2.95
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 716 out of 716 hypotheses for 023_mug (evidence > 0.9256085990733567)
current most likely hypothesis: 023_mug with evidence 4.9
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1074 out of 1074 hypotheses for 023_mug (evidence > 0.8849282721811249)
current most likely hypothesis: 023_mug with evidence 6.87
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01551117  1.49429681  0.01634921]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1432 out of 1432 hypotheses for 023_mug (evidence > 0.9147826588894784)
current most likely hypothesis: 023_mug with evidence 8.81
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01543058  1.49429732  0.01594444]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1790 out of 1790 hypotheses for 023_mug (evidence > 0.9145459361043912)
current most likely hypothesis: 023_mug with evidence 10.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.0155019   1.49429687  0.01630268]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1790 out of 1790 hypotheses for 023_mug (evidence > 0.37071844590863756)
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01546458  1.49429711  0.01611519]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1790 out of 1790 hypotheses for 023_mug (evidence > 2.2152838325681032)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01539455  1.49441225  0.01633983]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1790 out of 1790 hypotheses for 023_mug (evidence > 4.088535587898172)
current most likely hypothesis: 023_mug with evidence 16.59
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01534656  1.49441325  0.01603739]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 216
 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234
 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252
 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270
 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288
 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306
 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324
 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342
 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.037  1.483  0.035], rotation [ 38.058  50.208 184.839], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.0438 >= 1.0 (tangent_projection=-0.005008, curvature=-208.431284)
Arc correction skipped: |k*p| = 1.5953 >= 1.0 (tangent_projection=-0.014422, curvature=-110.617468)
Arc correction skipped: |k*p| = 1.0574 >= 1.0 (tangent_projection=-0.008300, curvature=127.399765)
Arc correction skipped: |k*p| = 2.3228 >= 1.0 (tangent_projection=-0.004503, curvature=515.865707)
Arc correction skipped: |k*p| = 1.0122 >= 1.0 (tangent_projection=0.031608, curvature=-32.024207)
Arc correction skipped: |k*p| = 9.5003 >= 1.0 (tangent_projection=-0.082492, curvature=-115.167247)

---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 973 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 388 out of 388 hypotheses for 023_mug (evidence > 0.9086706864580968)
current most likely hypothesis: 023_mug with evidence 2.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 776 out of 776 hypotheses for 023_mug (evidence > 0.8870372918220506)
current most likely hypothesis: 023_mug with evidence 4.88
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1164 out of 1164 hypotheses for 023_mug (evidence > 0.9331339169441721)
current most likely hypothesis: 023_mug with evidence 6.82
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.01850668  1.50210186  0.00590997]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1552 out of 1552 hypotheses for 023_mug (evidence > 0.9338919953700578)
current most likely hypothesis: 023_mug with evidence 8.77
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01851444  1.50219556  0.00606776]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1940 out of 1940 hypotheses for 023_mug (evidence > 0.9167543034839308)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01850966  1.50218986  0.00602027]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1940 out of 1940 hypotheses for 023_mug (evidence > 1.930151362304608)
current most likely hypothesis: 023_mug with evidence 12.62
current most likely hypothesis: 023_mug with evidence 12.62
current most likely hypothesis: 023_mug with evidence 12.62
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01819643  1.50206081  0.00550504]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1940 out of 1940 hypotheses for 023_mug (evidence > 1.0416632686345393)
current most likely hypothesis: 023_mug with evidence 14.58
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01853316  1.50220192  0.00596288]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1940 out of 1940 hypotheses for 023_mug (evidence > 0.041663268634539286)
current most likely hypothesis: 023_mug 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01850304  1.50262198  0.00591996]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  13  14  15  16  17  18
  19  20  21  22  23  24  25  26  27  29  31  32  33  34  35  36  37  38
  39  40  41  42  43  45  46  47  48  49  50  51  52  53  54  56  57  58
  59  60  61  62  63  64  65  66  67  68  69  70  71  72  73  74  75  76
  77  78  79  80  81  82  83  84  85  86  87  89  90  91  92  93  94  95
  96  97  98  99 100 101 102 103 104 105 106 107 108 109 110 111 112 113
 114 115 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132
 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150
 151 152 153 154 156 157 158 159 160 161 162 163 164 165 166 167 168 169
 170 171 172 173 175 176 177 178 179 180 181 182 183 184 185 186 187 188
 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206
 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 226
 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244
 245 246 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263
 264 265 266 267 268 269 270 271 272 274 275 276 277 278 279 280 281 282
 283 284 285 286 287 288 290 291 292 293 294 295 296 297 298 299 300 301
 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319
 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337
 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355
 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373
 374 375 376 377 378 379 380 382 383 384 385 386 387]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.036  1.507  0.035], rotation [27.058 26.976 39.449], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 9 steps
Arc correction skipped: |k*p| = 1.8126 >= 1.0 (tangent_projection=-0.003099, curvature=-584.857046)
Arc correction skipped: |k*p| = 4.1698 >= 1.0 (tangent_projection=-0.003975, curvature=1049.012496)
Arc correction skipped: |k*p| = 4.8965 >= 1.0 (tangent_projection=0.009224, curvature=-530.826174)
Arc correction skipped: |k*p| = 1.3592 >= 1.0 (tangent_projection=-0.007605, curvature=-178.719111)
Arc correction skipped: |k*p| = 3.9704 >= 1.0 (tangent_projection=0.006327, curvature=627.557786)
Arc correction skipped: |k*p| = 1.8698 >= 1.0 (tangent_projection=0.054054, curvature=34.591097)
Arc correction skipped: |k*p| = 1.7945 >= 1.0 (tangent_projection=-0.010724, curvature=167.340411)
Arc correction skipped: |k*p| = 1.1001 >= 1.0 (tangent_projection=-0.004704, curvature=233.864946)
Arc correction skipped: |k*p| = 2.1633 >= 1.0 (tangent_projection=-0.001834, curvature=1179.699654)
Arc correction skipped: |k*p| = 1.5271 >= 1.0 (tangent_projection=-0.003826, curvature=399.075749)

---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 1044 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 418 out of 418 hypotheses for 023_mug (evidence > 0.9372254908812832)
current most likely hypothesis: 023_mug with evidence 2.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 836 out of 836 hypotheses for 023_mug (evidence > 0.9194658834489118)
current most likely hypothesis: 023_mug with evidence 4.92
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1254 out of 1254 hypotheses for 023_mug (evidence > 0.9308669771183004)
current most likely hypothesis: 023_mug with evidence 6.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-0.0184411   1.49408344  0.00532537]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1672 out of 1672 hypotheses for 023_mug (evidence > 0.9453877290755337)
current most likely hypothesis: 023_mug with evidence 8.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-0.01847089  1.49393648  0.00535379]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2090 out of 2090 hypotheses for 023_mug (evidence > 0.9356954105063883)
current most likely hypothesis: 023_mug with evidence 10.79
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-0.01844352  1.49390799  0.00524725]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2090 out of 2090 hypotheses for 023_mug (evidence > 1.7215914742342813)
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
current most likely hypothesis: 023_mug with evidence 12.7
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-0.01846931  1.4937131   0.00525814]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2089 out of 2089 hypotheses for 023_mug (evidence > 2.6651135416333225)
current most likely hypothesis: 023_mug with evidence 14.65
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-0.01823138  1.49375144  0.00503717]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-0.01839015  1.49375936  0.0051504 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2089 out of 2089 hypotheses for 023_mug (evidence > 4.988262964385331)
current most likely hypothesis: 023_mug with evidence 16.59
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-0.01864016  1.49490196  0.00566982]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17
  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35
  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53
  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71
  72  73  74  75  76  77  78  79  80  81  82  83  84  85  86  87  88  89
  90  91  92  93  94  95  96  97  98  99 100 101 102 103 104 105 106 107
 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125
 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143
 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161
 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179
 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197
 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
 216 217 218 219 220 221 222 223 224 225 226 228 229 230 231 232 233 234
 235 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253
 254 255 256 257 258 259 260 262 263 265 266 267 268 269 270 271 273 274
 275 277 278 279 280 281 283 284 285 286 287 288 289 290 291 292 293 294
 295 296 297 298 299 300 302 303 304 305 306 308 309 310 311 312 313 314
 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332
 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350
 351 352 353 354 356 357 358 359 360 361 362 363 364 365 366 367 368 369
 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388
 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406
 407 408 410 411 412 413 414 415 416 417]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.006  1.538  0.042], rotation [335.273 345.787  32.755], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 10 steps
Arc correction skipped: |k*p| = 1.8228 >= 1.0 (tangent_projection=-0.003689, curvature=-494.102819)
Arc correction skipped: |k*p| = 3.3740 >= 1.0 (tangent_projection=0.003935, curvature=857.473921)
Arc correction skipped: |k*p| = 1.6817 >= 1.0 (tangent_projection=-0.005642, curvature=298.037778)
Arc correction skipped: |k*p| = 1.2874 >= 1.0 (tangent_projection=-0.004801, curvature=268.135363)
Arc correction skipped: |k*p| = 1.8935 >= 1.0 (tangent_projection=-0.003107, curvature=609.493850)
Arc correction skipped: |k*p| = 2.2850 >= 1.0 (tangent_projection=-0.010461, curvature=-218.426086)
Arc correction skipped: |k*p| = 3.0937 >= 1.0 (tangent_projection=-0.008420, curvature=-367.413848)
Arc correction skipped: |k*p| = 8.6436 >= 1.0 (tangent_projection=-0.037510, curvature=-230.435396)
Arc correction skipped: |k*p| = 1.2068 >= 1.0 (tangent_projection=-0.005972, curvature=-202.091259)
Arc correction skipped: |k*p| = 7.4643 >= 1.0 (tangent_projection=-0.033015, curvature=226.090010)
Arc correction skipped: |k*p| = 12.4139 >= 1.0 (tangent_projection=-0.016513, curvature=751.762602)
Arc correction skipped: |k*p| = 12.4095 >= 1.0 (tangent_projection=-0.018963, curvature=-654.419596)
Arc correction skipped: |k*p| = 2.1251 >= 1.0 (tangent_projection=0.022438, curvature=94.714029)
Arc correction skipped: |k*p| = 16.3353 >= 1.0 (tangent_projection=-0.028106, curvature=-581.201065)
Arc correction skipped: |k*p| = 1.6601 >= 1.0 (tangent_projection=-0.004908, curvature=-338.249252)
Arc correction skipped: |k*p| = 1.3190 >= 1.0 (tangent_projection=-0.003218, curvature=-409.902570)
Arc correction skipped: |k*p| = 1.5462 >= 1.0 (tangent_projection=-0.048195, curvature=32.081968)
Arc correction skipped: |k*p| = 13.1210 >= 1.0 (tangent_projection=-0.023046, curvature=-569.348182)
Arc correction skipped: |k*p| = 3.8364 >= 1.0 (tangent_projection=-0.014874, curvature=-257.920921)
Arc correction skipped: |k*p| = 1.2318 >= 1.0 (tangent_projection=-0.027953, curvature=-44.066970)
Arc correction skipped: |k*p| = 1.6910 >= 1.0 (tangent_projection=-0.021947, curvature=-77.049099)
Arc correction skipped: |k*p| = 1.2340 >= 1.0 (tangent_projection=0.013749, curvature=-89.754326)

---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 1125 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 450 out of 450 hypotheses for 023_mug (evidence > 0.9230717076930812)
current most likely hypothesis: 023_mug with evidence 2.95
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 900 out of 900 hypotheses for 023_mug (evidence > 0.935476604653729)
current most likely hypothesis: 023_mug with evidence 4.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1350 out of 1350 hypotheses for 023_mug (evidence > 0.8909452073691693)
current most likely hypothesis: 023_mug with evidence 6.83
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 4 ---
all possible locations are in radius 0.1 of [-2.04016138e-02  1.50600079e+00  7.37691232e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1800 out of 1800 hypotheses for 023_mug (evidence > 0.9036691868701382)
current most likely hypothesis: 023_mug with evidence 8.77
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 5 ---
all possible locations are in radius 0.1 of [-2.05185190e-02  1.50604649e+00  7.12581836e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > 0.9094272884625614)
current most likely hypothesis: 023_mug with evidence 10.74
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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 6 ---
all possible locations are in radius 0.1 of [-2.05865741e-02  1.50646003e+00  8.02202250e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2250 out of 2250 hypotheses for 023_mug (evidence > 0.004837083159400457)
current most likely hypothesis: 023_mug with evidence 12.4
current most likely hypothesis: 023_mug with evidence 12.4
current most likely hypothesis: 023_mug with evidence 12.4
current most likely hypothesis: 023_mug with evidence 12.4
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 7 ---
all possible locations are in radius 0.1 of [-2.01317617e-02  1.50638751e+00  7.62981521e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 8 ---
all possible locations are in radius 0.1 of [-1.96155408e-02  1.50638481e+00  6.92514341e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2244 out of 2244 hypotheses for 023_mug (evidence > -0.9951629168405995)
current most likely hypothesis: 023_mug with evidence 14.32
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 9 ---
all possible locations are in radius 0.1 of [-1.98561518e-02  1.50645247e+00  6.34678963e-04]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_2 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 10 ---
all possible locations are in radius 0.1 of [-2.00235792e-02  1.50646267e+00  6.56259504e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to 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
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-2.01607908e-02  1.50647297e+00  6.74873817e-04]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2243 out of 2243 hypotheses for 023_mug (evidence > 1.6114376111575097)
current most likely hypothesis: 023_mug with evidence 16.25
Sending input from ['patch_1'] to learning_module_1
Sending input from ['patch_2'] to learning_module_2
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
Possible matches for learning_module_2: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-2.04205492e-02  1.50620233e+00  2.52699790e-04]
added symmetry evidence
Symmetry detected for hypotheses [  0   1   2   3   4   5   6   7  10  11  12  13  14  15  16  17  18  19
  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35  36  37
  38  40  41  42  43  44  46  47  48  49  50  51  52  53  54  55  56  57
  58  59  60  61  62  63  64  65  67  68  69  70  71  72  73  74  75  76
  77  78  79  80  81  82  83  84  85  86  87  88  89  90  91  92  93  94
  95  96  97  98  99 100 101 102 103 104 105 106 107 108 109 110 111 112
 113 114 115 116 118 119 120 121 122 123 124 125 126 127 128 129 130 131
 132 133 134 135 136 137 138 139 140 141 142 143 145 146 147 148 149 150
 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168
 169 170 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187
 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205
 206 207 208 209 210 211 212 213 214 215 216 218 219 220 221 222 223 224
 225 226 228 229 230 231 232 235 237 238 240 241 242 243 244 246 247 248
 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266
 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284
 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302
 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320
 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338
 339 340 341 342 343 344 345 346 347 348 349 350 352 353 354 355 356 357
 358 359 360 361 362 363 364 365 366 367 368 370 371 372 373 374 375 376
 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394
 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 411 412 413
 414 415 416 417 418 419 420 422 423 424 425 426 427 428 429 431 432 433
 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.029 1.503 0.009], rotation [324.792 314.013 180.415], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match
Setting terminal state of learning_module_2 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 12 steps
Arc correction skipped: |k*p| = 1.4942 >= 1.0 (tangent_projection=-0.005049, curvature=295.938242)
Arc correction skipped: |k*p| = 3.5589 >= 1.0 (tangent_projection=0.006032, curvature=590.030219)
Arc correction skipped: |k*p| = 2.3375 >= 1.0 (tangent_projection=0.007278, curvature=321.177860)
Arc correction skipped: |k*p| = 2.5449 >= 1.0 (tangent_projection=0.023596, curvature=-107.849207)
Arc correction skipped: |k*p| = 1.2128 >= 1.0 (tangent_projection=0.019849, curvature=-61.102997)
Arc correction skipped: |k*p| = 6.4363 >= 1.0 (tangent_projection=0.027979, curvature=-230.038285)
Arc correction skipped: |k*p| = 3.0854 >= 1.0 (tangent_projection=0.019079, curvature=161.719614)
Arc correction skipped: |k*p| = 1.9311 >= 1.0 (tangent_projection=-0.003071, curvature=-628.781902)
Arc correction skipped: |k*p| = 1.3642 >= 1.0 (tangent_projection=0.001446, curvature=943.254390)
Arc correction skipped: |k*p| = 1.1961 >= 1.0 (tangent_projection=0.031869, curvature=-37.530640)
Arc correction skipped: |k*p| = 2.2652 >= 1.0 (tangent_projection=0.008003, curvature=-283.047269)
Arc correction skipped: |k*p| = 1.7016 >= 1.0 (tangent_projection=0.002422, curvature=-702.585202)
Arc correction skipped: |k*p| = 2.5277 >= 1.0 (tangent_projection=0.004781, curvature=-528.653422)
Arc correction skipped: |k*p| = 3.0261 >= 1.0 (tangent_projection=-0.003931, curvature=769.882440)

---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 1206 points in graph.
   Feature grid shape: torch.Size([100, 100, 100, 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

---Updating memory of learning_module_2---
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 /mnt/results/hlee/monty/pretrained_models/20260918_cows_pretrained/supervised_pre_training_cows_3d_children/supervised_pre_training_cows_3d_children-parallel_train_episode_023_mug/pretrained
