logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug not in memory ([])
Adding a new graph to memory.
init object model with id mug
built graph Data(
  x=[219, 27],
  pos=[219, 3],
  norm=[219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1314],
  edge_attr=[1314, 3]
)
Added new graph with id mug to memory.

---Updating memory of learning_module_1---
mug not in memory ([])
Adding a new graph to memory.
init object model with id mug
built graph Data(
  x=[206, 27],
  pos=[206, 3],
  norm=[206, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1236],
  edge_attr=[1236, 3]
)
Added new graph with id mug to memory.

---Updating memory of learning_module_2---
mug not in memory ([])
Adding a new graph to memory.
init object model with id mug
built graph Data(
  x=[201, 27],
  pos=[201, 3],
  norm=[201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1206],
  edge_attr=[1206, 3]
)
Added new graph with id mug to memory.

---Updating memory of learning_module_3---
mug not in memory ([])
Adding a new graph to memory.
init object model with id mug
built graph Data(
  x=[204, 27],
  pos=[204, 3],
  norm=[204, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1224],
  edge_attr=[1224, 3]
)
Added new graph with id mug to memory.

---Updating memory of learning_module_4---
mug not in memory ([])
Adding a new graph to memory.
init object model with id mug
built graph Data(
  x=[228, 27],
  pos=[228, 3],
  norm=[228, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1368],
  edge_attr=[1368, 3]
)
Added new graph with id mug to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[446, 27],
  pos=[446, 3],
  norm=[446, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2676],
  edge_attr=[2676, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[419, 27],
  pos=[419, 3],
  norm=[419, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2514],
  edge_attr=[2514, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[410, 27],
  pos=[410, 3],
  norm=[410, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2460],
  edge_attr=[2460, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[433, 27],
  pos=[433, 3],
  norm=[433, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2598],
  edge_attr=[2598, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[455, 27],
  pos=[455, 3],
  norm=[455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2730],
  edge_attr=[2730, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[665, 27],
  pos=[665, 3],
  norm=[665, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3990],
  edge_attr=[3990, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[626, 27],
  pos=[626, 3],
  norm=[626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3756],
  edge_attr=[3756, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[612, 27],
  pos=[612, 3],
  norm=[612, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3672],
  edge_attr=[3672, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[658, 27],
  pos=[658, 3],
  norm=[658, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3948],
  edge_attr=[3948, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[661, 27],
  pos=[661, 3],
  norm=[661, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3966],
  edge_attr=[3966, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[826, 27],
  pos=[826, 3],
  norm=[826, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4956],
  edge_attr=[4956, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[780, 27],
  pos=[780, 3],
  norm=[780, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4680],
  edge_attr=[4680, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[764, 27],
  pos=[764, 3],
  norm=[764, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4584],
  edge_attr=[4584, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[835, 27],
  pos=[835, 3],
  norm=[835, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5010],
  edge_attr=[5010, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[814, 27],
  pos=[814, 3],
  norm=[814, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4884],
  edge_attr=[4884, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1045, 27],
  pos=[1045, 3],
  norm=[1045, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6270],
  edge_attr=[6270, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[986, 27],
  pos=[986, 3],
  norm=[986, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5916],
  edge_attr=[5916, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[975, 27],
  pos=[975, 3],
  norm=[975, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5850],
  edge_attr=[5850, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1033, 27],
  pos=[1033, 3],
  norm=[1033, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6198],
  edge_attr=[6198, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1045, 27],
  pos=[1045, 3],
  norm=[1045, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6270],
  edge_attr=[6270, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1264, 27],
  pos=[1264, 3],
  norm=[1264, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7584],
  edge_attr=[7584, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1191, 27],
  pos=[1191, 3],
  norm=[1191, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7146],
  edge_attr=[7146, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1190, 27],
  pos=[1190, 3],
  norm=[1190, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7140],
  edge_attr=[7140, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1272, 27],
  pos=[1272, 3],
  norm=[1272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7632],
  edge_attr=[7632, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1234, 27],
  pos=[1234, 3],
  norm=[1234, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7404],
  edge_attr=[7404, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1412, 27],
  pos=[1412, 3],
  norm=[1412, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8472],
  edge_attr=[8472, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1335, 27],
  pos=[1335, 3],
  norm=[1335, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8010],
  edge_attr=[8010, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1360, 27],
  pos=[1360, 3],
  norm=[1360, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8160],
  edge_attr=[8160, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1423, 27],
  pos=[1423, 3],
  norm=[1423, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8538],
  edge_attr=[8538, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1398, 27],
  pos=[1398, 3],
  norm=[1398, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8388],
  edge_attr=[8388, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1621, 27],
  pos=[1621, 3],
  norm=[1621, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9726],
  edge_attr=[9726, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1530, 27],
  pos=[1530, 3],
  norm=[1530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9180],
  edge_attr=[9180, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1536, 27],
  pos=[1536, 3],
  norm=[1536, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9216],
  edge_attr=[9216, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1604, 27],
  pos=[1604, 3],
  norm=[1604, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9624],
  edge_attr=[9624, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1603, 27],
  pos=[1603, 3],
  norm=[1603, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9618],
  edge_attr=[9618, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1773, 27],
  pos=[1773, 3],
  norm=[1773, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10638],
  edge_attr=[10638, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1675, 27],
  pos=[1675, 3],
  norm=[1675, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10050],
  edge_attr=[10050, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1694, 27],
  pos=[1694, 3],
  norm=[1694, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10164],
  edge_attr=[10164, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1752, 27],
  pos=[1752, 3],
  norm=[1752, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10512],
  edge_attr=[10512, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1740, 27],
  pos=[1740, 3],
  norm=[1740, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10440],
  edge_attr=[10440, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1957, 27],
  pos=[1957, 3],
  norm=[1957, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11742],
  edge_attr=[11742, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1860, 27],
  pos=[1860, 3],
  norm=[1860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11160],
  edge_attr=[11160, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1860, 27],
  pos=[1860, 3],
  norm=[1860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11160],
  edge_attr=[11160, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1948, 27],
  pos=[1948, 3],
  norm=[1948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11688],
  edge_attr=[11688, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[1909, 27],
  pos=[1909, 3],
  norm=[1909, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11454],
  edge_attr=[11454, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2175, 27],
  pos=[2175, 3],
  norm=[2175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13050],
  edge_attr=[13050, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2073, 27],
  pos=[2073, 3],
  norm=[2073, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12438],
  edge_attr=[12438, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2046, 27],
  pos=[2046, 3],
  norm=[2046, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12276],
  edge_attr=[12276, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2170, 27],
  pos=[2170, 3],
  norm=[2170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13020],
  edge_attr=[13020, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2094, 27],
  pos=[2094, 3],
  norm=[2094, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12564],
  edge_attr=[12564, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2315, 27],
  pos=[2315, 3],
  norm=[2315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13890],
  edge_attr=[13890, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2203, 27],
  pos=[2203, 3],
  norm=[2203, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13218],
  edge_attr=[13218, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2209, 27],
  pos=[2209, 3],
  norm=[2209, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13254],
  edge_attr=[13254, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2329, 27],
  pos=[2329, 3],
  norm=[2329, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13974],
  edge_attr=[13974, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2234, 27],
  pos=[2234, 3],
  norm=[2234, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13404],
  edge_attr=[13404, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2496, 27],
  pos=[2496, 3],
  norm=[2496, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14976],
  edge_attr=[14976, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2383, 27],
  pos=[2383, 3],
  norm=[2383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14298],
  edge_attr=[14298, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2387, 27],
  pos=[2387, 3],
  norm=[2387, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14322],
  edge_attr=[14322, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2508, 27],
  pos=[2508, 3],
  norm=[2508, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15048],
  edge_attr=[15048, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2428, 27],
  pos=[2428, 3],
  norm=[2428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14568],
  edge_attr=[14568, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mug
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2668, 27],
  pos=[2668, 3],
  norm=[2668, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16008],
  edge_attr=[16008, 3]
)

---Updating memory of learning_module_1---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2538, 27],
  pos=[2538, 3],
  norm=[2538, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15228],
  edge_attr=[15228, 3]
)

---Updating memory of learning_module_2---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2554, 27],
  pos=[2554, 3],
  norm=[2554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15324],
  edge_attr=[15324, 3]
)

---Updating memory of learning_module_3---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2678, 27],
  pos=[2678, 3],
  norm=[2678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16068],
  edge_attr=[16068, 3]
)

---Updating memory of learning_module_4---
mug already in memory (['mug'])
Updating existing graph for mug
building graph
Extended graph mug with new points. New model:
Data(
  x=[2604, 27],
  pos=[2604, 3],
  norm=[2604, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15624],
  edge_attr=[15624, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mug',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_mug/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl not in memory ([])
Adding a new graph to memory.
init object model with id bowl
built graph Data(
  x=[174, 27],
  pos=[174, 3],
  norm=[174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1044],
  edge_attr=[1044, 3]
)
Added new graph with id bowl to memory.

---Updating memory of learning_module_1---
bowl not in memory ([])
Adding a new graph to memory.
init object model with id bowl
built graph Data(
  x=[153, 27],
  pos=[153, 3],
  norm=[153, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 918],
  edge_attr=[918, 3]
)
Added new graph with id bowl to memory.

---Updating memory of learning_module_2---
bowl not in memory ([])
Adding a new graph to memory.
init object model with id bowl
built graph Data(
  x=[174, 27],
  pos=[174, 3],
  norm=[174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1044],
  edge_attr=[1044, 3]
)
Added new graph with id bowl to memory.

---Updating memory of learning_module_3---
bowl not in memory ([])
Adding a new graph to memory.
init object model with id bowl
built graph Data(
  x=[168, 27],
  pos=[168, 3],
  norm=[168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1008],
  edge_attr=[1008, 3]
)
Added new graph with id bowl to memory.

---Updating memory of learning_module_4---
bowl not in memory ([])
Adding a new graph to memory.
init object model with id bowl
built graph Data(
  x=[168, 27],
  pos=[168, 3],
  norm=[168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1008],
  edge_attr=[1008, 3]
)
Added new graph with id bowl to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[345, 27],
  pos=[345, 3],
  norm=[345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2070],
  edge_attr=[2070, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[306, 27],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1836],
  edge_attr=[1836, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[348, 27],
  pos=[348, 3],
  norm=[348, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2088],
  edge_attr=[2088, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[337, 27],
  pos=[337, 3],
  norm=[337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2022],
  edge_attr=[2022, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[336, 27],
  pos=[336, 3],
  norm=[336, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2016],
  edge_attr=[2016, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[513, 27],
  pos=[513, 3],
  norm=[513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3078],
  edge_attr=[3078, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[460, 27],
  pos=[460, 3],
  norm=[460, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2760],
  edge_attr=[2760, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[522, 27],
  pos=[522, 3],
  norm=[522, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3132],
  edge_attr=[3132, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[503, 27],
  pos=[503, 3],
  norm=[503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3018],
  edge_attr=[3018, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[502, 27],
  pos=[502, 3],
  norm=[502, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3012],
  edge_attr=[3012, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[684, 27],
  pos=[684, 3],
  norm=[684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4104],
  edge_attr=[4104, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[614, 27],
  pos=[614, 3],
  norm=[614, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3684],
  edge_attr=[3684, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[696, 27],
  pos=[696, 3],
  norm=[696, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4176],
  edge_attr=[4176, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[673, 27],
  pos=[673, 3],
  norm=[673, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4038],
  edge_attr=[4038, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[671, 27],
  pos=[671, 3],
  norm=[671, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4026],
  edge_attr=[4026, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[894, 27],
  pos=[894, 3],
  norm=[894, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5364],
  edge_attr=[5364, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[822, 27],
  pos=[822, 3],
  norm=[822, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4932],
  edge_attr=[4932, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[905, 27],
  pos=[905, 3],
  norm=[905, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5430],
  edge_attr=[5430, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[882, 27],
  pos=[882, 3],
  norm=[882, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5292],
  edge_attr=[5292, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[880, 27],
  pos=[880, 3],
  norm=[880, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5280],
  edge_attr=[5280, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1112, 27],
  pos=[1112, 3],
  norm=[1112, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6672],
  edge_attr=[6672, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1037, 27],
  pos=[1037, 3],
  norm=[1037, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6222],
  edge_attr=[6222, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1123, 27],
  pos=[1123, 3],
  norm=[1123, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6738],
  edge_attr=[6738, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1094, 27],
  pos=[1094, 3],
  norm=[1094, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6564],
  edge_attr=[6564, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1094, 27],
  pos=[1094, 3],
  norm=[1094, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6564],
  edge_attr=[6564, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1245, 27],
  pos=[1245, 3],
  norm=[1245, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7470],
  edge_attr=[7470, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1187, 27],
  pos=[1187, 3],
  norm=[1187, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7122],
  edge_attr=[7122, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1237, 27],
  pos=[1237, 3],
  norm=[1237, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7422],
  edge_attr=[7422, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1229, 27],
  pos=[1229, 3],
  norm=[1229, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7374],
  edge_attr=[7374, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1218, 27],
  pos=[1218, 3],
  norm=[1218, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7308],
  edge_attr=[7308, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1420, 27],
  pos=[1420, 3],
  norm=[1420, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8520],
  edge_attr=[8520, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1380, 27],
  pos=[1380, 3],
  norm=[1380, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8280],
  edge_attr=[8280, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1398, 27],
  pos=[1398, 3],
  norm=[1398, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8388],
  edge_attr=[8388, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1401, 27],
  pos=[1401, 3],
  norm=[1401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8406],
  edge_attr=[8406, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1400, 27],
  pos=[1400, 3],
  norm=[1400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8400],
  edge_attr=[8400, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1554, 27],
  pos=[1554, 3],
  norm=[1554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9324],
  edge_attr=[9324, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1528, 27],
  pos=[1528, 3],
  norm=[1528, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9168],
  edge_attr=[9168, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1514, 27],
  pos=[1514, 3],
  norm=[1514, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9084],
  edge_attr=[9084, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1525, 27],
  pos=[1525, 3],
  norm=[1525, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9150],
  edge_attr=[9150, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1533, 27],
  pos=[1533, 3],
  norm=[1533, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9198],
  edge_attr=[9198, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1733, 27],
  pos=[1733, 3],
  norm=[1733, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10398],
  edge_attr=[10398, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1721, 27],
  pos=[1721, 3],
  norm=[1721, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10326],
  edge_attr=[10326, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1677, 27],
  pos=[1677, 3],
  norm=[1677, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10062],
  edge_attr=[10062, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1705, 27],
  pos=[1705, 3],
  norm=[1705, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10230],
  edge_attr=[10230, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1703, 27],
  pos=[1703, 3],
  norm=[1703, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10218],
  edge_attr=[10218, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1911, 27],
  pos=[1911, 3],
  norm=[1911, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11466],
  edge_attr=[11466, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1914, 27],
  pos=[1914, 3],
  norm=[1914, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11484],
  edge_attr=[11484, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1846, 27],
  pos=[1846, 3],
  norm=[1846, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11076],
  edge_attr=[11076, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1891, 27],
  pos=[1891, 3],
  norm=[1891, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11346],
  edge_attr=[11346, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1873, 27],
  pos=[1873, 3],
  norm=[1873, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11238],
  edge_attr=[11238, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2042, 27],
  pos=[2042, 3],
  norm=[2042, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12252],
  edge_attr=[12252, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2065, 27],
  pos=[2065, 3],
  norm=[2065, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12390],
  edge_attr=[12390, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[1965, 27],
  pos=[1965, 3],
  norm=[1965, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11790],
  edge_attr=[11790, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2015, 27],
  pos=[2015, 3],
  norm=[2015, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12090],
  edge_attr=[12090, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2005, 27],
  pos=[2005, 3],
  norm=[2005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12030],
  edge_attr=[12030, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2219, 27],
  pos=[2219, 3],
  norm=[2219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13314],
  edge_attr=[13314, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2255, 27],
  pos=[2255, 3],
  norm=[2255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13530],
  edge_attr=[13530, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2131, 27],
  pos=[2131, 3],
  norm=[2131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12786],
  edge_attr=[12786, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2184, 27],
  pos=[2184, 3],
  norm=[2184, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13104],
  edge_attr=[13104, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2188, 27],
  pos=[2188, 3],
  norm=[2188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13128],
  edge_attr=[13128, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: bowl
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2351, 27],
  pos=[2351, 3],
  norm=[2351, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14106],
  edge_attr=[14106, 3]
)

---Updating memory of learning_module_1---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2403, 27],
  pos=[2403, 3],
  norm=[2403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14418],
  edge_attr=[14418, 3]
)

---Updating memory of learning_module_2---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2247, 27],
  pos=[2247, 3],
  norm=[2247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13482],
  edge_attr=[13482, 3]
)

---Updating memory of learning_module_3---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2319, 27],
  pos=[2319, 3],
  norm=[2319, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13914],
  edge_attr=[13914, 3]
)

---Updating memory of learning_module_4---
bowl already in memory (['bowl'])
Updating existing graph for bowl
building graph
Extended graph bowl with new points. New model:
Data(
  x=[2307, 27],
  pos=[2307, 3],
  norm=[2307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13842],
  edge_attr=[13842, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'bowl',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_bowl/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can not in memory ([])
Adding a new graph to memory.
init object model with id potted_meat_can
built graph Data(
  x=[212, 27],
  pos=[212, 3],
  norm=[212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1272],
  edge_attr=[1272, 3]
)
Added new graph with id potted_meat_can to memory.

---Updating memory of learning_module_1---
potted_meat_can not in memory ([])
Adding a new graph to memory.
init object model with id potted_meat_can
built graph Data(
  x=[208, 27],
  pos=[208, 3],
  norm=[208, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1248],
  edge_attr=[1248, 3]
)
Added new graph with id potted_meat_can to memory.

---Updating memory of learning_module_2---
potted_meat_can not in memory ([])
Adding a new graph to memory.
init object model with id potted_meat_can
built graph Data(
  x=[203, 27],
  pos=[203, 3],
  norm=[203, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1218],
  edge_attr=[1218, 3]
)
Added new graph with id potted_meat_can to memory.

---Updating memory of learning_module_3---
potted_meat_can not in memory ([])
Adding a new graph to memory.
init object model with id potted_meat_can
built graph Data(
  x=[202, 27],
  pos=[202, 3],
  norm=[202, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1212],
  edge_attr=[1212, 3]
)
Added new graph with id potted_meat_can to memory.

---Updating memory of learning_module_4---
potted_meat_can not in memory ([])
Adding a new graph to memory.
init object model with id potted_meat_can
built graph Data(
  x=[204, 27],
  pos=[204, 3],
  norm=[204, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1224],
  edge_attr=[1224, 3]
)
Added new graph with id potted_meat_can to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[430, 27],
  pos=[430, 3],
  norm=[430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2580],
  edge_attr=[2580, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[422, 27],
  pos=[422, 3],
  norm=[422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2532],
  edge_attr=[2532, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[415, 27],
  pos=[415, 3],
  norm=[415, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2490],
  edge_attr=[2490, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[422, 27],
  pos=[422, 3],
  norm=[422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2532],
  edge_attr=[2532, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[421, 27],
  pos=[421, 3],
  norm=[421, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2526],
  edge_attr=[2526, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[644, 27],
  pos=[644, 3],
  norm=[644, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3864],
  edge_attr=[3864, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[631, 27],
  pos=[631, 3],
  norm=[631, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3786],
  edge_attr=[3786, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[619, 27],
  pos=[619, 3],
  norm=[619, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3714],
  edge_attr=[3714, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[624, 27],
  pos=[624, 3],
  norm=[624, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3744],
  edge_attr=[3744, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[625, 27],
  pos=[625, 3],
  norm=[625, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3750],
  edge_attr=[3750, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[862, 27],
  pos=[862, 3],
  norm=[862, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5172],
  edge_attr=[5172, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[842, 27],
  pos=[842, 3],
  norm=[842, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5052],
  edge_attr=[5052, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[831, 27],
  pos=[831, 3],
  norm=[831, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4986],
  edge_attr=[4986, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[844, 27],
  pos=[844, 3],
  norm=[844, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5064],
  edge_attr=[5064, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[841, 27],
  pos=[841, 3],
  norm=[841, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5046],
  edge_attr=[5046, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1046, 27],
  pos=[1046, 3],
  norm=[1046, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6276],
  edge_attr=[6276, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1025, 27],
  pos=[1025, 3],
  norm=[1025, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6150],
  edge_attr=[6150, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1013, 27],
  pos=[1013, 3],
  norm=[1013, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6078],
  edge_attr=[6078, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1023, 27],
  pos=[1023, 3],
  norm=[1023, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6138],
  edge_attr=[6138, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1018, 27],
  pos=[1018, 3],
  norm=[1018, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6108],
  edge_attr=[6108, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1251, 27],
  pos=[1251, 3],
  norm=[1251, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7506],
  edge_attr=[7506, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1226, 27],
  pos=[1226, 3],
  norm=[1226, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7356],
  edge_attr=[7356, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1213, 27],
  pos=[1213, 3],
  norm=[1213, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7278],
  edge_attr=[7278, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1221, 27],
  pos=[1221, 3],
  norm=[1221, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7326],
  edge_attr=[7326, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1216, 27],
  pos=[1216, 3],
  norm=[1216, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7296],
  edge_attr=[7296, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1379, 27],
  pos=[1379, 3],
  norm=[1379, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8274],
  edge_attr=[8274, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1335, 27],
  pos=[1335, 3],
  norm=[1335, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8010],
  edge_attr=[8010, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1347, 27],
  pos=[1347, 3],
  norm=[1347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8082],
  edge_attr=[8082, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1352, 27],
  pos=[1352, 3],
  norm=[1352, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8112],
  edge_attr=[8112, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1351, 27],
  pos=[1351, 3],
  norm=[1351, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8106],
  edge_attr=[8106, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1539, 27],
  pos=[1539, 3],
  norm=[1539, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9234],
  edge_attr=[9234, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1488, 27],
  pos=[1488, 3],
  norm=[1488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8928],
  edge_attr=[8928, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1485, 27],
  pos=[1485, 3],
  norm=[1485, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8910],
  edge_attr=[8910, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1510, 27],
  pos=[1510, 3],
  norm=[1510, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9060],
  edge_attr=[9060, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1514, 27],
  pos=[1514, 3],
  norm=[1514, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9084],
  edge_attr=[9084, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1661, 27],
  pos=[1661, 3],
  norm=[1661, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9966],
  edge_attr=[9966, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1601, 27],
  pos=[1601, 3],
  norm=[1601, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9606],
  edge_attr=[9606, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1615, 27],
  pos=[1615, 3],
  norm=[1615, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9690],
  edge_attr=[9690, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1641, 27],
  pos=[1641, 3],
  norm=[1641, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9846],
  edge_attr=[9846, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1634, 27],
  pos=[1634, 3],
  norm=[1634, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9804],
  edge_attr=[9804, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1817, 27],
  pos=[1817, 3],
  norm=[1817, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10902],
  edge_attr=[10902, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1756, 27],
  pos=[1756, 3],
  norm=[1756, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10536],
  edge_attr=[10536, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1761, 27],
  pos=[1761, 3],
  norm=[1761, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10566],
  edge_attr=[10566, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1796, 27],
  pos=[1796, 3],
  norm=[1796, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10776],
  edge_attr=[10776, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1784, 27],
  pos=[1784, 3],
  norm=[1784, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10704],
  edge_attr=[10704, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1983, 27],
  pos=[1983, 3],
  norm=[1983, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11898],
  edge_attr=[11898, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1922, 27],
  pos=[1922, 3],
  norm=[1922, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11532],
  edge_attr=[11532, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1907, 27],
  pos=[1907, 3],
  norm=[1907, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11442],
  edge_attr=[11442, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1968, 27],
  pos=[1968, 3],
  norm=[1968, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11808],
  edge_attr=[11808, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[1939, 27],
  pos=[1939, 3],
  norm=[1939, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11634],
  edge_attr=[11634, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2093, 27],
  pos=[2093, 3],
  norm=[2093, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12558],
  edge_attr=[12558, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2027, 27],
  pos=[2027, 3],
  norm=[2027, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12162],
  edge_attr=[12162, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2033, 27],
  pos=[2033, 3],
  norm=[2033, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12198],
  edge_attr=[12198, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2094, 27],
  pos=[2094, 3],
  norm=[2094, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12564],
  edge_attr=[12564, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2052, 27],
  pos=[2052, 3],
  norm=[2052, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12312],
  edge_attr=[12312, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2254, 27],
  pos=[2254, 3],
  norm=[2254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13524],
  edge_attr=[13524, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2182, 27],
  pos=[2182, 3],
  norm=[2182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13092],
  edge_attr=[13092, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2178, 27],
  pos=[2178, 3],
  norm=[2178, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13068],
  edge_attr=[13068, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2256, 27],
  pos=[2256, 3],
  norm=[2256, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13536],
  edge_attr=[13536, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2223, 27],
  pos=[2223, 3],
  norm=[2223, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13338],
  edge_attr=[13338, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: potted_meat_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2367, 27],
  pos=[2367, 3],
  norm=[2367, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14202],
  edge_attr=[14202, 3]
)

---Updating memory of learning_module_1---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2282, 27],
  pos=[2282, 3],
  norm=[2282, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13692],
  edge_attr=[13692, 3]
)

---Updating memory of learning_module_2---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2297, 27],
  pos=[2297, 3],
  norm=[2297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13782],
  edge_attr=[13782, 3]
)

---Updating memory of learning_module_3---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2372, 27],
  pos=[2372, 3],
  norm=[2372, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14232],
  edge_attr=[14232, 3]
)

---Updating memory of learning_module_4---
potted_meat_can already in memory (['potted_meat_can'])
Updating existing graph for potted_meat_can
building graph
Extended graph potted_meat_can with new points. New model:
Data(
  x=[2340, 27],
  pos=[2340, 3],
  norm=[2340, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14040],
  edge_attr=[14040, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'potted_meat_can',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_potted_meat_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[29, 27],
  pos=[29, 3],
  norm=[29, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 174],
  edge_attr=[174, 3]
)
Added new graph with id spoon to memory.

---Updating memory of learning_module_1---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[32, 27],
  pos=[32, 3],
  norm=[32, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 192],
  edge_attr=[192, 3]
)
Added new graph with id spoon to memory.

---Updating memory of learning_module_2---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[35, 27],
  pos=[35, 3],
  norm=[35, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 210],
  edge_attr=[210, 3]
)
Added new graph with id spoon to memory.

---Updating memory of learning_module_3---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[35, 27],
  pos=[35, 3],
  norm=[35, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 210],
  edge_attr=[210, 3]
)
Added new graph with id spoon to memory.

---Updating memory of learning_module_4---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[24, 27],
  pos=[24, 3],
  norm=[24, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 144],
  edge_attr=[144, 3]
)
Added new graph with id spoon to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[53, 27],
  pos=[53, 3],
  norm=[53, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 318],
  edge_attr=[318, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[65, 27],
  pos=[65, 3],
  norm=[65, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 390],
  edge_attr=[390, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[56, 27],
  pos=[56, 3],
  norm=[56, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 336],
  edge_attr=[336, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[51, 27],
  pos=[51, 3],
  norm=[51, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 306],
  edge_attr=[306, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[52, 27],
  pos=[52, 3],
  norm=[52, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 312],
  edge_attr=[312, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[81, 27],
  pos=[81, 3],
  norm=[81, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 486],
  edge_attr=[486, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[95, 27],
  pos=[95, 3],
  norm=[95, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 570],
  edge_attr=[570, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[87, 27],
  pos=[87, 3],
  norm=[87, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 522],
  edge_attr=[522, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[75, 27],
  pos=[75, 3],
  norm=[75, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 450],
  edge_attr=[450, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[85, 27],
  pos=[85, 3],
  norm=[85, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 510],
  edge_attr=[510, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[106, 27],
  pos=[106, 3],
  norm=[106, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 636],
  edge_attr=[636, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[122, 27],
  pos=[122, 3],
  norm=[122, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 732],
  edge_attr=[732, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[111, 27],
  pos=[111, 3],
  norm=[111, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 666],
  edge_attr=[666, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[103, 27],
  pos=[103, 3],
  norm=[103, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 618],
  edge_attr=[618, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[107, 27],
  pos=[107, 3],
  norm=[107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 642],
  edge_attr=[642, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[184, 27],
  pos=[184, 3],
  norm=[184, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1104],
  edge_attr=[1104, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[180, 27],
  pos=[180, 3],
  norm=[180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1080],
  edge_attr=[1080, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[185, 27],
  pos=[185, 3],
  norm=[185, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1110],
  edge_attr=[1110, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[190, 27],
  pos=[190, 3],
  norm=[190, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1140],
  edge_attr=[1140, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[179, 27],
  pos=[179, 3],
  norm=[179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1074],
  edge_attr=[1074, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[241, 27],
  pos=[241, 3],
  norm=[241, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1446],
  edge_attr=[1446, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[240, 27],
  pos=[240, 3],
  norm=[240, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1440],
  edge_attr=[1440, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[241, 27],
  pos=[241, 3],
  norm=[241, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1446],
  edge_attr=[1446, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[247, 27],
  pos=[247, 3],
  norm=[247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1482],
  edge_attr=[1482, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[252, 27],
  pos=[252, 3],
  norm=[252, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1512],
  edge_attr=[1512, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[264, 27],
  pos=[264, 3],
  norm=[264, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1584],
  edge_attr=[1584, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[266, 27],
  pos=[266, 3],
  norm=[266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1596],
  edge_attr=[1596, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[257, 27],
  pos=[257, 3],
  norm=[257, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1542],
  edge_attr=[1542, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[263, 27],
  pos=[263, 3],
  norm=[263, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1578],
  edge_attr=[1578, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[276, 27],
  pos=[276, 3],
  norm=[276, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1656],
  edge_attr=[1656, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[293, 27],
  pos=[293, 3],
  norm=[293, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1758],
  edge_attr=[1758, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[292, 27],
  pos=[292, 3],
  norm=[292, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1752],
  edge_attr=[1752, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[291, 27],
  pos=[291, 3],
  norm=[291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1746],
  edge_attr=[1746, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[291, 27],
  pos=[291, 3],
  norm=[291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1746],
  edge_attr=[1746, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[306, 27],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1836],
  edge_attr=[1836, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[321, 27],
  pos=[321, 3],
  norm=[321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1926],
  edge_attr=[1926, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[321, 27],
  pos=[321, 3],
  norm=[321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1926],
  edge_attr=[1926, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[318, 27],
  pos=[318, 3],
  norm=[318, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1908],
  edge_attr=[1908, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[326, 27],
  pos=[326, 3],
  norm=[326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1956],
  edge_attr=[1956, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[328, 27],
  pos=[328, 3],
  norm=[328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1968],
  edge_attr=[1968, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[348, 27],
  pos=[348, 3],
  norm=[348, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2088],
  edge_attr=[2088, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[350, 27],
  pos=[350, 3],
  norm=[350, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2100],
  edge_attr=[2100, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[350, 27],
  pos=[350, 3],
  norm=[350, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2100],
  edge_attr=[2100, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[367, 27],
  pos=[367, 3],
  norm=[367, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2202],
  edge_attr=[2202, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[353, 27],
  pos=[353, 3],
  norm=[353, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2118],
  edge_attr=[2118, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[383, 27],
  pos=[383, 3],
  norm=[383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2298],
  edge_attr=[2298, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[377, 27],
  pos=[377, 3],
  norm=[377, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2262],
  edge_attr=[2262, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[383, 27],
  pos=[383, 3],
  norm=[383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2298],
  edge_attr=[2298, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[408, 27],
  pos=[408, 3],
  norm=[408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2448],
  edge_attr=[2448, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[380, 27],
  pos=[380, 3],
  norm=[380, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2280],
  edge_attr=[2280, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[459, 27],
  pos=[459, 3],
  norm=[459, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2754],
  edge_attr=[2754, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[450, 27],
  pos=[450, 3],
  norm=[450, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2700],
  edge_attr=[2700, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[446, 27],
  pos=[446, 3],
  norm=[446, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2676],
  edge_attr=[2676, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[484, 27],
  pos=[484, 3],
  norm=[484, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2904],
  edge_attr=[2904, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[449, 27],
  pos=[449, 3],
  norm=[449, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2694],
  edge_attr=[2694, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[487, 27],
  pos=[487, 3],
  norm=[487, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2922],
  edge_attr=[2922, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[481, 27],
  pos=[481, 3],
  norm=[481, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2886],
  edge_attr=[2886, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[479, 27],
  pos=[479, 3],
  norm=[479, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2874],
  edge_attr=[2874, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[513, 27],
  pos=[513, 3],
  norm=[513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3078],
  edge_attr=[3078, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[481, 27],
  pos=[481, 3],
  norm=[481, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2886],
  edge_attr=[2886, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[511, 27],
  pos=[511, 3],
  norm=[511, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3066],
  edge_attr=[3066, 3]
)

---Updating memory of learning_module_1---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[507, 27],
  pos=[507, 3],
  norm=[507, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3042],
  edge_attr=[3042, 3]
)

---Updating memory of learning_module_2---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[510, 27],
  pos=[510, 3],
  norm=[510, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3060],
  edge_attr=[3060, 3]
)

---Updating memory of learning_module_3---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[535, 27],
  pos=[535, 3],
  norm=[535, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3210],
  edge_attr=[3210, 3]
)

---Updating memory of learning_module_4---
spoon already in memory (['spoon'])
Updating existing graph for spoon
building graph
Extended graph spoon with new points. New model:
Data(
  x=[518, 27],
  pos=[518, 3],
  norm=[518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3108],
  edge_attr=[3108, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_spoon/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[105, 27],
  pos=[105, 3],
  norm=[105, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 630],
  edge_attr=[630, 3]
)
Added new graph with id strawberry to memory.

---Updating memory of learning_module_1---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[100, 27],
  pos=[100, 3],
  norm=[100, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 600],
  edge_attr=[600, 3]
)
Added new graph with id strawberry to memory.

---Updating memory of learning_module_2---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[101, 27],
  pos=[101, 3],
  norm=[101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 606],
  edge_attr=[606, 3]
)
Added new graph with id strawberry to memory.

---Updating memory of learning_module_3---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[107, 27],
  pos=[107, 3],
  norm=[107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 642],
  edge_attr=[642, 3]
)
Added new graph with id strawberry to memory.

---Updating memory of learning_module_4---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[107, 27],
  pos=[107, 3],
  norm=[107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 642],
  edge_attr=[642, 3]
)
Added new graph with id strawberry to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[211, 27],
  pos=[211, 3],
  norm=[211, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1266],
  edge_attr=[1266, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[197, 27],
  pos=[197, 3],
  norm=[197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1182],
  edge_attr=[1182, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[204, 27],
  pos=[204, 3],
  norm=[204, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1224],
  edge_attr=[1224, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[210, 27],
  pos=[210, 3],
  norm=[210, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1260],
  edge_attr=[1260, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[212, 27],
  pos=[212, 3],
  norm=[212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1272],
  edge_attr=[1272, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[305, 27],
  pos=[305, 3],
  norm=[305, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1830],
  edge_attr=[1830, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[287, 27],
  pos=[287, 3],
  norm=[287, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1722],
  edge_attr=[1722, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[294, 27],
  pos=[294, 3],
  norm=[294, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1764],
  edge_attr=[1764, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[311, 27],
  pos=[311, 3],
  norm=[311, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1866],
  edge_attr=[1866, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[309, 27],
  pos=[309, 3],
  norm=[309, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1854],
  edge_attr=[1854, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[396, 27],
  pos=[396, 3],
  norm=[396, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2376],
  edge_attr=[2376, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[375, 27],
  pos=[375, 3],
  norm=[375, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2250],
  edge_attr=[2250, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[380, 27],
  pos=[380, 3],
  norm=[380, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2280],
  edge_attr=[2280, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[405, 27],
  pos=[405, 3],
  norm=[405, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2430],
  edge_attr=[2430, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[409, 27],
  pos=[409, 3],
  norm=[409, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2454],
  edge_attr=[2454, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[476, 27],
  pos=[476, 3],
  norm=[476, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2856],
  edge_attr=[2856, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[450, 27],
  pos=[450, 3],
  norm=[450, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2700],
  edge_attr=[2700, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[464, 27],
  pos=[464, 3],
  norm=[464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2784],
  edge_attr=[2784, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[491, 27],
  pos=[491, 3],
  norm=[491, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2946],
  edge_attr=[2946, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[495, 27],
  pos=[495, 3],
  norm=[495, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2970],
  edge_attr=[2970, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[581, 27],
  pos=[581, 3],
  norm=[581, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3486],
  edge_attr=[3486, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[550, 27],
  pos=[550, 3],
  norm=[550, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3300],
  edge_attr=[3300, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[560, 27],
  pos=[560, 3],
  norm=[560, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3360],
  edge_attr=[3360, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[598, 27],
  pos=[598, 3],
  norm=[598, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3588],
  edge_attr=[3588, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[600, 27],
  pos=[600, 3],
  norm=[600, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3600],
  edge_attr=[3600, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[655, 27],
  pos=[655, 3],
  norm=[655, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3930],
  edge_attr=[3930, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[614, 27],
  pos=[614, 3],
  norm=[614, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3684],
  edge_attr=[3684, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[631, 27],
  pos=[631, 3],
  norm=[631, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3786],
  edge_attr=[3786, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[683, 27],
  pos=[683, 3],
  norm=[683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4098],
  edge_attr=[4098, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[676, 27],
  pos=[676, 3],
  norm=[676, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4056],
  edge_attr=[4056, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[693, 27],
  pos=[693, 3],
  norm=[693, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4158],
  edge_attr=[4158, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[658, 27],
  pos=[658, 3],
  norm=[658, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3948],
  edge_attr=[3948, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[663, 27],
  pos=[663, 3],
  norm=[663, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3978],
  edge_attr=[3978, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[733, 27],
  pos=[733, 3],
  norm=[733, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4398],
  edge_attr=[4398, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[723, 27],
  pos=[723, 3],
  norm=[723, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4338],
  edge_attr=[4338, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[762, 27],
  pos=[762, 3],
  norm=[762, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4572],
  edge_attr=[4572, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[729, 27],
  pos=[729, 3],
  norm=[729, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4374],
  edge_attr=[4374, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[737, 27],
  pos=[737, 3],
  norm=[737, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4422],
  edge_attr=[4422, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[796, 27],
  pos=[796, 3],
  norm=[796, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4776],
  edge_attr=[4776, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[790, 27],
  pos=[790, 3],
  norm=[790, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4740],
  edge_attr=[4740, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[823, 27],
  pos=[823, 3],
  norm=[823, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4938],
  edge_attr=[4938, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[796, 27],
  pos=[796, 3],
  norm=[796, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4776],
  edge_attr=[4776, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[794, 27],
  pos=[794, 3],
  norm=[794, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4764],
  edge_attr=[4764, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[859, 27],
  pos=[859, 3],
  norm=[859, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5154],
  edge_attr=[5154, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[856, 27],
  pos=[856, 3],
  norm=[856, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5136],
  edge_attr=[5136, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[894, 27],
  pos=[894, 3],
  norm=[894, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5364],
  edge_attr=[5364, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[871, 27],
  pos=[871, 3],
  norm=[871, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5226],
  edge_attr=[5226, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[861, 27],
  pos=[861, 3],
  norm=[861, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5166],
  edge_attr=[5166, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[936, 27],
  pos=[936, 3],
  norm=[936, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5616],
  edge_attr=[5616, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[933, 27],
  pos=[933, 3],
  norm=[933, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5598],
  edge_attr=[5598, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[954, 27],
  pos=[954, 3],
  norm=[954, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5724],
  edge_attr=[5724, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[925, 27],
  pos=[925, 3],
  norm=[925, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5550],
  edge_attr=[5550, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[926, 27],
  pos=[926, 3],
  norm=[926, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5556],
  edge_attr=[5556, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1004, 27],
  pos=[1004, 3],
  norm=[1004, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6024],
  edge_attr=[6024, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1000, 27],
  pos=[1000, 3],
  norm=[1000, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6000],
  edge_attr=[6000, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1029, 27],
  pos=[1029, 3],
  norm=[1029, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6174],
  edge_attr=[6174, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[996, 27],
  pos=[996, 3],
  norm=[996, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5976],
  edge_attr=[5976, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[986, 27],
  pos=[986, 3],
  norm=[986, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5916],
  edge_attr=[5916, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1083, 27],
  pos=[1083, 3],
  norm=[1083, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6498],
  edge_attr=[6498, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1069, 27],
  pos=[1069, 3],
  norm=[1069, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6414],
  edge_attr=[6414, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1093, 27],
  pos=[1093, 3],
  norm=[1093, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6558],
  edge_attr=[6558, 3]
)

---Updating memory of learning_module_1---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1043, 27],
  pos=[1043, 3],
  norm=[1043, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6258],
  edge_attr=[6258, 3]
)

---Updating memory of learning_module_2---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1051, 27],
  pos=[1051, 3],
  norm=[1051, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6306],
  edge_attr=[6306, 3]
)

---Updating memory of learning_module_3---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1142, 27],
  pos=[1142, 3],
  norm=[1142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6852],
  edge_attr=[6852, 3]
)

---Updating memory of learning_module_4---
strawberry already in memory (['strawberry'])
Updating existing graph for strawberry
building graph
Extended graph strawberry with new points. New model:
Data(
  x=[1128, 27],
  pos=[1128, 3],
  norm=[1128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6768],
  edge_attr=[6768, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_strawberry/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[207, 27],
  pos=[207, 3],
  norm=[207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1242],
  edge_attr=[1242, 3]
)
Added new graph with id mustard_bottle to memory.

---Updating memory of learning_module_1---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[197, 27],
  pos=[197, 3],
  norm=[197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1182],
  edge_attr=[1182, 3]
)
Added new graph with id mustard_bottle to memory.

---Updating memory of learning_module_2---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[216, 27],
  pos=[216, 3],
  norm=[216, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1296],
  edge_attr=[1296, 3]
)
Added new graph with id mustard_bottle to memory.

---Updating memory of learning_module_3---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[201, 27],
  pos=[201, 3],
  norm=[201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1206],
  edge_attr=[1206, 3]
)
Added new graph with id mustard_bottle to memory.

---Updating memory of learning_module_4---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[213, 27],
  pos=[213, 3],
  norm=[213, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1278],
  edge_attr=[1278, 3]
)
Added new graph with id mustard_bottle to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[425, 27],
  pos=[425, 3],
  norm=[425, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2550],
  edge_attr=[2550, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[408, 27],
  pos=[408, 3],
  norm=[408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2448],
  edge_attr=[2448, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[433, 27],
  pos=[433, 3],
  norm=[433, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2598],
  edge_attr=[2598, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[400, 27],
  pos=[400, 3],
  norm=[400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2400],
  edge_attr=[2400, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[408, 27],
  pos=[408, 3],
  norm=[408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2448],
  edge_attr=[2448, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[632, 27],
  pos=[632, 3],
  norm=[632, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3792],
  edge_attr=[3792, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[607, 27],
  pos=[607, 3],
  norm=[607, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3642],
  edge_attr=[3642, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[648, 27],
  pos=[648, 3],
  norm=[648, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3888],
  edge_attr=[3888, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[606, 27],
  pos=[606, 3],
  norm=[606, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3636],
  edge_attr=[3636, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[622, 27],
  pos=[622, 3],
  norm=[622, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3732],
  edge_attr=[3732, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[848, 27],
  pos=[848, 3],
  norm=[848, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5088],
  edge_attr=[5088, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[819, 27],
  pos=[819, 3],
  norm=[819, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4914],
  edge_attr=[4914, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[867, 27],
  pos=[867, 3],
  norm=[867, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5202],
  edge_attr=[5202, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[807, 27],
  pos=[807, 3],
  norm=[807, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4842],
  edge_attr=[4842, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[830, 27],
  pos=[830, 3],
  norm=[830, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4980],
  edge_attr=[4980, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[927, 27],
  pos=[927, 3],
  norm=[927, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5562],
  edge_attr=[5562, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[901, 27],
  pos=[901, 3],
  norm=[901, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5406],
  edge_attr=[5406, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[954, 27],
  pos=[954, 3],
  norm=[954, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5724],
  edge_attr=[5724, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[898, 27],
  pos=[898, 3],
  norm=[898, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5388],
  edge_attr=[5388, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[924, 27],
  pos=[924, 3],
  norm=[924, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5544],
  edge_attr=[5544, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1148, 27],
  pos=[1148, 3],
  norm=[1148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6888],
  edge_attr=[6888, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1111, 27],
  pos=[1111, 3],
  norm=[1111, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6666],
  edge_attr=[6666, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1171, 27],
  pos=[1171, 3],
  norm=[1171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7026],
  edge_attr=[7026, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1107, 27],
  pos=[1107, 3],
  norm=[1107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6642],
  edge_attr=[6642, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1132, 27],
  pos=[1132, 3],
  norm=[1132, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6792],
  edge_attr=[6792, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1349, 27],
  pos=[1349, 3],
  norm=[1349, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8094],
  edge_attr=[8094, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1312, 27],
  pos=[1312, 3],
  norm=[1312, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7872],
  edge_attr=[7872, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1366, 27],
  pos=[1366, 3],
  norm=[1366, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8196],
  edge_attr=[8196, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1317, 27],
  pos=[1317, 3],
  norm=[1317, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7902],
  edge_attr=[7902, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1323, 27],
  pos=[1323, 3],
  norm=[1323, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7938],
  edge_attr=[7938, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1511, 27],
  pos=[1511, 3],
  norm=[1511, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9066],
  edge_attr=[9066, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1456, 27],
  pos=[1456, 3],
  norm=[1456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8736],
  edge_attr=[8736, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1526, 27],
  pos=[1526, 3],
  norm=[1526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9156],
  edge_attr=[9156, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1491, 27],
  pos=[1491, 3],
  norm=[1491, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8946],
  edge_attr=[8946, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1476, 27],
  pos=[1476, 3],
  norm=[1476, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8856],
  edge_attr=[8856, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1691, 27],
  pos=[1691, 3],
  norm=[1691, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10146],
  edge_attr=[10146, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1638, 27],
  pos=[1638, 3],
  norm=[1638, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9828],
  edge_attr=[9828, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1695, 27],
  pos=[1695, 3],
  norm=[1695, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10170],
  edge_attr=[10170, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1664, 27],
  pos=[1664, 3],
  norm=[1664, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9984],
  edge_attr=[9984, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1667, 27],
  pos=[1667, 3],
  norm=[1667, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10002],
  edge_attr=[10002, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1811, 27],
  pos=[1811, 3],
  norm=[1811, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10866],
  edge_attr=[10866, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1746, 27],
  pos=[1746, 3],
  norm=[1746, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10476],
  edge_attr=[10476, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1830, 27],
  pos=[1830, 3],
  norm=[1830, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10980],
  edge_attr=[10980, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1781, 27],
  pos=[1781, 3],
  norm=[1781, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10686],
  edge_attr=[10686, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1803, 27],
  pos=[1803, 3],
  norm=[1803, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10818],
  edge_attr=[10818, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1937, 27],
  pos=[1937, 3],
  norm=[1937, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11622],
  edge_attr=[11622, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1868, 27],
  pos=[1868, 3],
  norm=[1868, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11208],
  edge_attr=[11208, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1973, 27],
  pos=[1973, 3],
  norm=[1973, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11838],
  edge_attr=[11838, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1903, 27],
  pos=[1903, 3],
  norm=[1903, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11418],
  edge_attr=[11418, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[1936, 27],
  pos=[1936, 3],
  norm=[1936, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11616],
  edge_attr=[11616, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2111, 27],
  pos=[2111, 3],
  norm=[2111, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12666],
  edge_attr=[12666, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2046, 27],
  pos=[2046, 3],
  norm=[2046, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12276],
  edge_attr=[12276, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2126, 27],
  pos=[2126, 3],
  norm=[2126, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12756],
  edge_attr=[12756, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2063, 27],
  pos=[2063, 3],
  norm=[2063, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12378],
  edge_attr=[12378, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2127, 27],
  pos=[2127, 3],
  norm=[2127, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12762],
  edge_attr=[12762, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2283, 27],
  pos=[2283, 3],
  norm=[2283, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13698],
  edge_attr=[13698, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2208, 27],
  pos=[2208, 3],
  norm=[2208, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13248],
  edge_attr=[13248, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2308, 27],
  pos=[2308, 3],
  norm=[2308, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13848],
  edge_attr=[13848, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2253, 27],
  pos=[2253, 3],
  norm=[2253, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13518],
  edge_attr=[13518, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2290, 27],
  pos=[2290, 3],
  norm=[2290, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13740],
  edge_attr=[13740, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: mustard_bottle
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2478, 27],
  pos=[2478, 3],
  norm=[2478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14868],
  edge_attr=[14868, 3]
)

---Updating memory of learning_module_1---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2393, 27],
  pos=[2393, 3],
  norm=[2393, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14358],
  edge_attr=[14358, 3]
)

---Updating memory of learning_module_2---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2493, 27],
  pos=[2493, 3],
  norm=[2493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14958],
  edge_attr=[14958, 3]
)

---Updating memory of learning_module_3---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2456, 27],
  pos=[2456, 3],
  norm=[2456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14736],
  edge_attr=[14736, 3]
)

---Updating memory of learning_module_4---
mustard_bottle already in memory (['mustard_bottle'])
Updating existing graph for mustard_bottle
building graph
Extended graph mustard_bottle with new points. New model:
Data(
  x=[2472, 27],
  pos=[2472, 3],
  norm=[2472, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14832],
  edge_attr=[14832, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mustard_bottle',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_mustard_bottle/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[55, 27],
  pos=[55, 3],
  norm=[55, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 330],
  edge_attr=[330, 3]
)
Added new graph with id dice to memory.

---Updating memory of learning_module_1---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[48, 27],
  pos=[48, 3],
  norm=[48, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 288],
  edge_attr=[288, 3]
)
Added new graph with id dice to memory.

---Updating memory of learning_module_2---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[49, 27],
  pos=[49, 3],
  norm=[49, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 294],
  edge_attr=[294, 3]
)
Added new graph with id dice to memory.

---Updating memory of learning_module_3---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[66, 27],
  pos=[66, 3],
  norm=[66, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 396],
  edge_attr=[396, 3]
)
Added new graph with id dice to memory.

---Updating memory of learning_module_4---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[66, 27],
  pos=[66, 3],
  norm=[66, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 396],
  edge_attr=[396, 3]
)
Added new graph with id dice to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[110, 27],
  pos=[110, 3],
  norm=[110, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 660],
  edge_attr=[660, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[97, 27],
  pos=[97, 3],
  norm=[97, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 582],
  edge_attr=[582, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[98, 27],
  pos=[98, 3],
  norm=[98, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 588],
  edge_attr=[588, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[127, 27],
  pos=[127, 3],
  norm=[127, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 762],
  edge_attr=[762, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[132, 27],
  pos=[132, 3],
  norm=[132, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 792],
  edge_attr=[792, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[164, 27],
  pos=[164, 3],
  norm=[164, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 984],
  edge_attr=[984, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[146, 27],
  pos=[146, 3],
  norm=[146, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 876],
  edge_attr=[876, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[147, 27],
  pos=[147, 3],
  norm=[147, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 882],
  edge_attr=[882, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[192, 27],
  pos=[192, 3],
  norm=[192, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1152],
  edge_attr=[1152, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[198, 27],
  pos=[198, 3],
  norm=[198, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1188],
  edge_attr=[1188, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[218, 27],
  pos=[218, 3],
  norm=[218, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1308],
  edge_attr=[1308, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[195, 27],
  pos=[195, 3],
  norm=[195, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1170],
  edge_attr=[1170, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[196, 27],
  pos=[196, 3],
  norm=[196, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1176],
  edge_attr=[1176, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[246, 27],
  pos=[246, 3],
  norm=[246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1476],
  edge_attr=[1476, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[264, 27],
  pos=[264, 3],
  norm=[264, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1584],
  edge_attr=[1584, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[267, 27],
  pos=[267, 3],
  norm=[267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1602],
  edge_attr=[1602, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[235, 27],
  pos=[235, 3],
  norm=[235, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1410],
  edge_attr=[1410, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[243, 27],
  pos=[243, 3],
  norm=[243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1458],
  edge_attr=[1458, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[304, 27],
  pos=[304, 3],
  norm=[304, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1824],
  edge_attr=[1824, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[326, 27],
  pos=[326, 3],
  norm=[326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1956],
  edge_attr=[1956, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[316, 27],
  pos=[316, 3],
  norm=[316, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1896],
  edge_attr=[1896, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[285, 27],
  pos=[285, 3],
  norm=[285, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1710],
  edge_attr=[1710, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[282, 27],
  pos=[282, 3],
  norm=[282, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1692],
  edge_attr=[1692, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[364, 27],
  pos=[364, 3],
  norm=[364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2184],
  edge_attr=[2184, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[385, 27],
  pos=[385, 3],
  norm=[385, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2310],
  edge_attr=[2310, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[327, 27],
  pos=[327, 3],
  norm=[327, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1962],
  edge_attr=[1962, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[294, 27],
  pos=[294, 3],
  norm=[294, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1764],
  edge_attr=[1764, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[295, 27],
  pos=[295, 3],
  norm=[295, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1770],
  edge_attr=[1770, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[372, 27],
  pos=[372, 3],
  norm=[372, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2232],
  edge_attr=[2232, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[387, 27],
  pos=[387, 3],
  norm=[387, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2322],
  edge_attr=[2322, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[337, 27],
  pos=[337, 3],
  norm=[337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2022],
  edge_attr=[2022, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[306, 27],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1836],
  edge_attr=[1836, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[302, 27],
  pos=[302, 3],
  norm=[302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1812],
  edge_attr=[1812, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[381, 27],
  pos=[381, 3],
  norm=[381, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2286],
  edge_attr=[2286, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[392, 27],
  pos=[392, 3],
  norm=[392, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2352],
  edge_attr=[2352, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[344, 27],
  pos=[344, 3],
  norm=[344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2064],
  edge_attr=[2064, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[316, 27],
  pos=[316, 3],
  norm=[316, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1896],
  edge_attr=[1896, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[313, 27],
  pos=[313, 3],
  norm=[313, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1878],
  edge_attr=[1878, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[393, 27],
  pos=[393, 3],
  norm=[393, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2358],
  edge_attr=[2358, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[400, 27],
  pos=[400, 3],
  norm=[400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2400],
  edge_attr=[2400, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[349, 27],
  pos=[349, 3],
  norm=[349, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2094],
  edge_attr=[2094, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[328, 27],
  pos=[328, 3],
  norm=[328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1968],
  edge_attr=[1968, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[319, 27],
  pos=[319, 3],
  norm=[319, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1914],
  edge_attr=[1914, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[400, 27],
  pos=[400, 3],
  norm=[400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2400],
  edge_attr=[2400, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[406, 27],
  pos=[406, 3],
  norm=[406, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2436],
  edge_attr=[2436, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[358, 27],
  pos=[358, 3],
  norm=[358, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2148],
  edge_attr=[2148, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[341, 27],
  pos=[341, 3],
  norm=[341, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2046],
  edge_attr=[2046, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[326, 27],
  pos=[326, 3],
  norm=[326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1956],
  edge_attr=[1956, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[405, 27],
  pos=[405, 3],
  norm=[405, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2430],
  edge_attr=[2430, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[416, 27],
  pos=[416, 3],
  norm=[416, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2496],
  edge_attr=[2496, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[364, 27],
  pos=[364, 3],
  norm=[364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2184],
  edge_attr=[2184, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[345, 27],
  pos=[345, 3],
  norm=[345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2070],
  edge_attr=[2070, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[340, 27],
  pos=[340, 3],
  norm=[340, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2040],
  edge_attr=[2040, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[412, 27],
  pos=[412, 3],
  norm=[412, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2472],
  edge_attr=[2472, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[424, 27],
  pos=[424, 3],
  norm=[424, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2544],
  edge_attr=[2544, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[368, 27],
  pos=[368, 3],
  norm=[368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2208],
  edge_attr=[2208, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[359, 27],
  pos=[359, 3],
  norm=[359, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2154],
  edge_attr=[2154, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[345, 27],
  pos=[345, 3],
  norm=[345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2070],
  edge_attr=[2070, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[422, 27],
  pos=[422, 3],
  norm=[422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2532],
  edge_attr=[2532, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[428, 27],
  pos=[428, 3],
  norm=[428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2568],
  edge_attr=[2568, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[376, 27],
  pos=[376, 3],
  norm=[376, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2256],
  edge_attr=[2256, 3]
)

---Updating memory of learning_module_1---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[366, 27],
  pos=[366, 3],
  norm=[366, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2196],
  edge_attr=[2196, 3]
)

---Updating memory of learning_module_2---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[358, 27],
  pos=[358, 3],
  norm=[358, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2148],
  edge_attr=[2148, 3]
)

---Updating memory of learning_module_3---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[430, 27],
  pos=[430, 3],
  norm=[430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2580],
  edge_attr=[2580, 3]
)

---Updating memory of learning_module_4---
dice already in memory (['dice'])
Updating existing graph for dice
building graph
Extended graph dice with new points. New model:
Data(
  x=[435, 27],
  pos=[435, 3],
  norm=[435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2610],
  edge_attr=[2610, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_dice/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[81, 27],
  pos=[81, 3],
  norm=[81, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 486],
  edge_attr=[486, 3]
)
Added new graph with id golf_ball to memory.

---Updating memory of learning_module_1---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[80, 27],
  pos=[80, 3],
  norm=[80, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 480],
  edge_attr=[480, 3]
)
Added new graph with id golf_ball to memory.

---Updating memory of learning_module_2---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[80, 27],
  pos=[80, 3],
  norm=[80, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 480],
  edge_attr=[480, 3]
)
Added new graph with id golf_ball to memory.

---Updating memory of learning_module_3---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[86, 27],
  pos=[86, 3],
  norm=[86, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 516],
  edge_attr=[516, 3]
)
Added new graph with id golf_ball to memory.

---Updating memory of learning_module_4---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[86, 27],
  pos=[86, 3],
  norm=[86, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 516],
  edge_attr=[516, 3]
)
Added new graph with id golf_ball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[161, 27],
  pos=[161, 3],
  norm=[161, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 966],
  edge_attr=[966, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[157, 27],
  pos=[157, 3],
  norm=[157, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 942],
  edge_attr=[942, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[159, 27],
  pos=[159, 3],
  norm=[159, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 954],
  edge_attr=[954, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[172, 27],
  pos=[172, 3],
  norm=[172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1032],
  edge_attr=[1032, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[172, 27],
  pos=[172, 3],
  norm=[172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1032],
  edge_attr=[1032, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[240, 27],
  pos=[240, 3],
  norm=[240, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1440],
  edge_attr=[1440, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[236, 27],
  pos=[236, 3],
  norm=[236, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1416],
  edge_attr=[1416, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[238, 27],
  pos=[238, 3],
  norm=[238, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1428],
  edge_attr=[1428, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[258, 27],
  pos=[258, 3],
  norm=[258, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1548],
  edge_attr=[1548, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[258, 27],
  pos=[258, 3],
  norm=[258, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1548],
  edge_attr=[1548, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[318, 27],
  pos=[318, 3],
  norm=[318, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1908],
  edge_attr=[1908, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[314, 27],
  pos=[314, 3],
  norm=[314, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1884],
  edge_attr=[1884, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[316, 27],
  pos=[316, 3],
  norm=[316, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1896],
  edge_attr=[1896, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[344, 27],
  pos=[344, 3],
  norm=[344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2064],
  edge_attr=[2064, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[344, 27],
  pos=[344, 3],
  norm=[344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2064],
  edge_attr=[2064, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[394, 27],
  pos=[394, 3],
  norm=[394, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2364],
  edge_attr=[2364, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[384, 27],
  pos=[384, 3],
  norm=[384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2304],
  edge_attr=[2304, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[394, 27],
  pos=[394, 3],
  norm=[394, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2364],
  edge_attr=[2364, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[424, 27],
  pos=[424, 3],
  norm=[424, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2544],
  edge_attr=[2544, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[423, 27],
  pos=[423, 3],
  norm=[423, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2538],
  edge_attr=[2538, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[472, 27],
  pos=[472, 3],
  norm=[472, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2832],
  edge_attr=[2832, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[461, 27],
  pos=[461, 3],
  norm=[461, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2766],
  edge_attr=[2766, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[461, 27],
  pos=[461, 3],
  norm=[461, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2766],
  edge_attr=[2766, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[504, 27],
  pos=[504, 3],
  norm=[504, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3024],
  edge_attr=[3024, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[502, 27],
  pos=[502, 3],
  norm=[502, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3012],
  edge_attr=[3012, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[536, 27],
  pos=[536, 3],
  norm=[536, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3216],
  edge_attr=[3216, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[516, 27],
  pos=[516, 3],
  norm=[516, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3096],
  edge_attr=[3096, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[518, 27],
  pos=[518, 3],
  norm=[518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3108],
  edge_attr=[3108, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[570, 27],
  pos=[570, 3],
  norm=[570, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3420],
  edge_attr=[3420, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[567, 27],
  pos=[567, 3],
  norm=[567, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3402],
  edge_attr=[3402, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[593, 27],
  pos=[593, 3],
  norm=[593, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3558],
  edge_attr=[3558, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[571, 27],
  pos=[571, 3],
  norm=[571, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3426],
  edge_attr=[3426, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[569, 27],
  pos=[569, 3],
  norm=[569, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3414],
  edge_attr=[3414, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[626, 27],
  pos=[626, 3],
  norm=[626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3756],
  edge_attr=[3756, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[620, 27],
  pos=[620, 3],
  norm=[620, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3720],
  edge_attr=[3720, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[657, 27],
  pos=[657, 3],
  norm=[657, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3942],
  edge_attr=[3942, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[626, 27],
  pos=[626, 3],
  norm=[626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3756],
  edge_attr=[3756, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[629, 27],
  pos=[629, 3],
  norm=[629, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3774],
  edge_attr=[3774, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[695, 27],
  pos=[695, 3],
  norm=[695, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4170],
  edge_attr=[4170, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[685, 27],
  pos=[685, 3],
  norm=[685, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4110],
  edge_attr=[4110, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[712, 27],
  pos=[712, 3],
  norm=[712, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4272],
  edge_attr=[4272, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[682, 27],
  pos=[682, 3],
  norm=[682, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4092],
  edge_attr=[4092, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[679, 27],
  pos=[679, 3],
  norm=[679, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4074],
  edge_attr=[4074, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[751, 27],
  pos=[751, 3],
  norm=[751, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4506],
  edge_attr=[4506, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[743, 27],
  pos=[743, 3],
  norm=[743, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4458],
  edge_attr=[4458, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[773, 27],
  pos=[773, 3],
  norm=[773, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4638],
  edge_attr=[4638, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[739, 27],
  pos=[739, 3],
  norm=[739, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4434],
  edge_attr=[4434, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[735, 27],
  pos=[735, 3],
  norm=[735, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4410],
  edge_attr=[4410, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[819, 27],
  pos=[819, 3],
  norm=[819, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4914],
  edge_attr=[4914, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[810, 27],
  pos=[810, 3],
  norm=[810, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4860],
  edge_attr=[4860, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[826, 27],
  pos=[826, 3],
  norm=[826, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4956],
  edge_attr=[4956, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[792, 27],
  pos=[792, 3],
  norm=[792, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4752],
  edge_attr=[4752, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[788, 27],
  pos=[788, 3],
  norm=[788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4728],
  edge_attr=[4728, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[875, 27],
  pos=[875, 3],
  norm=[875, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5250],
  edge_attr=[5250, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[865, 27],
  pos=[865, 3],
  norm=[865, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5190],
  edge_attr=[5190, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[885, 27],
  pos=[885, 3],
  norm=[885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5310],
  edge_attr=[5310, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[847, 27],
  pos=[847, 3],
  norm=[847, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5082],
  edge_attr=[5082, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[842, 27],
  pos=[842, 3],
  norm=[842, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5052],
  edge_attr=[5052, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[942, 27],
  pos=[942, 3],
  norm=[942, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5652],
  edge_attr=[5652, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[930, 27],
  pos=[930, 3],
  norm=[930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5580],
  edge_attr=[5580, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[942, 27],
  pos=[942, 3],
  norm=[942, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5652],
  edge_attr=[5652, 3]
)

---Updating memory of learning_module_1---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[895, 27],
  pos=[895, 3],
  norm=[895, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5370],
  edge_attr=[5370, 3]
)

---Updating memory of learning_module_2---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[896, 27],
  pos=[896, 3],
  norm=[896, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5376],
  edge_attr=[5376, 3]
)

---Updating memory of learning_module_3---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[999, 27],
  pos=[999, 3],
  norm=[999, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5994],
  edge_attr=[5994, 3]
)

---Updating memory of learning_module_4---
golf_ball already in memory (['golf_ball'])
Updating existing graph for golf_ball
building graph
Extended graph golf_ball with new points. New model:
Data(
  x=[983, 27],
  pos=[983, 3],
  norm=[983, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5898],
  edge_attr=[5898, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_golf_ball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[83, 27],
  pos=[83, 3],
  norm=[83, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 498],
  edge_attr=[498, 3]
)
Added new graph with id c_lego_duplo to memory.

---Updating memory of learning_module_1---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[83, 27],
  pos=[83, 3],
  norm=[83, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 498],
  edge_attr=[498, 3]
)
Added new graph with id c_lego_duplo to memory.

---Updating memory of learning_module_2---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[77, 27],
  pos=[77, 3],
  norm=[77, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 462],
  edge_attr=[462, 3]
)
Added new graph with id c_lego_duplo to memory.

---Updating memory of learning_module_3---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[89, 27],
  pos=[89, 3],
  norm=[89, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 534],
  edge_attr=[534, 3]
)
Added new graph with id c_lego_duplo to memory.

---Updating memory of learning_module_4---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[81, 27],
  pos=[81, 3],
  norm=[81, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 486],
  edge_attr=[486, 3]
)
Added new graph with id c_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[224, 27],
  pos=[224, 3],
  norm=[224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1344],
  edge_attr=[1344, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[221, 27],
  pos=[221, 3],
  norm=[221, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1326],
  edge_attr=[1326, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[203, 27],
  pos=[203, 3],
  norm=[203, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1218],
  edge_attr=[1218, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[227, 27],
  pos=[227, 3],
  norm=[227, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1362],
  edge_attr=[1362, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[221, 27],
  pos=[221, 3],
  norm=[221, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1326],
  edge_attr=[1326, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[306, 27],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1836],
  edge_attr=[1836, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[303, 27],
  pos=[303, 3],
  norm=[303, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1818],
  edge_attr=[1818, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[277, 27],
  pos=[277, 3],
  norm=[277, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1662],
  edge_attr=[1662, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[314, 27],
  pos=[314, 3],
  norm=[314, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1884],
  edge_attr=[1884, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[308, 27],
  pos=[308, 3],
  norm=[308, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1848],
  edge_attr=[1848, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[448, 27],
  pos=[448, 3],
  norm=[448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2688],
  edge_attr=[2688, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[443, 27],
  pos=[443, 3],
  norm=[443, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2658],
  edge_attr=[2658, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[404, 27],
  pos=[404, 3],
  norm=[404, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2424],
  edge_attr=[2424, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[451, 27],
  pos=[451, 3],
  norm=[451, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2706],
  edge_attr=[2706, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[448, 27],
  pos=[448, 3],
  norm=[448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2688],
  edge_attr=[2688, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[623, 27],
  pos=[623, 3],
  norm=[623, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3738],
  edge_attr=[3738, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[589, 27],
  pos=[589, 3],
  norm=[589, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3534],
  edge_attr=[3534, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[569, 27],
  pos=[569, 3],
  norm=[569, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3414],
  edge_attr=[3414, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[632, 27],
  pos=[632, 3],
  norm=[632, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3792],
  edge_attr=[3792, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[627, 27],
  pos=[627, 3],
  norm=[627, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3762],
  edge_attr=[3762, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[821, 27],
  pos=[821, 3],
  norm=[821, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4926],
  edge_attr=[4926, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[764, 27],
  pos=[764, 3],
  norm=[764, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4584],
  edge_attr=[4584, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[754, 27],
  pos=[754, 3],
  norm=[754, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4524],
  edge_attr=[4524, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[829, 27],
  pos=[829, 3],
  norm=[829, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4974],
  edge_attr=[4974, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[825, 27],
  pos=[825, 3],
  norm=[825, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4950],
  edge_attr=[4950, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[880, 27],
  pos=[880, 3],
  norm=[880, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5280],
  edge_attr=[5280, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[821, 27],
  pos=[821, 3],
  norm=[821, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4926],
  edge_attr=[4926, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[807, 27],
  pos=[807, 3],
  norm=[807, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4842],
  edge_attr=[4842, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[888, 27],
  pos=[888, 3],
  norm=[888, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5328],
  edge_attr=[5328, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[891, 27],
  pos=[891, 3],
  norm=[891, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5346],
  edge_attr=[5346, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[929, 27],
  pos=[929, 3],
  norm=[929, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5574],
  edge_attr=[5574, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[868, 27],
  pos=[868, 3],
  norm=[868, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5208],
  edge_attr=[5208, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[867, 27],
  pos=[867, 3],
  norm=[867, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5202],
  edge_attr=[5202, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[938, 27],
  pos=[938, 3],
  norm=[938, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5628],
  edge_attr=[5628, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[937, 27],
  pos=[937, 3],
  norm=[937, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5622],
  edge_attr=[5622, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[987, 27],
  pos=[987, 3],
  norm=[987, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5922],
  edge_attr=[5922, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[932, 27],
  pos=[932, 3],
  norm=[932, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5592],
  edge_attr=[5592, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[920, 27],
  pos=[920, 3],
  norm=[920, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5520],
  edge_attr=[5520, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[998, 27],
  pos=[998, 3],
  norm=[998, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5988],
  edge_attr=[5988, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[992, 27],
  pos=[992, 3],
  norm=[992, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5952],
  edge_attr=[5952, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1042, 27],
  pos=[1042, 3],
  norm=[1042, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6252],
  edge_attr=[6252, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[970, 27],
  pos=[970, 3],
  norm=[970, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5820],
  edge_attr=[5820, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[982, 27],
  pos=[982, 3],
  norm=[982, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5892],
  edge_attr=[5892, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1059, 27],
  pos=[1059, 3],
  norm=[1059, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6354],
  edge_attr=[6354, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1052, 27],
  pos=[1052, 3],
  norm=[1052, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6312],
  edge_attr=[6312, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1092, 27],
  pos=[1092, 3],
  norm=[1092, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6552],
  edge_attr=[6552, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1010, 27],
  pos=[1010, 3],
  norm=[1010, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6060],
  edge_attr=[6060, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1039, 27],
  pos=[1039, 3],
  norm=[1039, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6234],
  edge_attr=[6234, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1114, 27],
  pos=[1114, 3],
  norm=[1114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6684],
  edge_attr=[6684, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1106, 27],
  pos=[1106, 3],
  norm=[1106, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6636],
  edge_attr=[6636, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1148, 27],
  pos=[1148, 3],
  norm=[1148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6888],
  edge_attr=[6888, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1060, 27],
  pos=[1060, 3],
  norm=[1060, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6360],
  edge_attr=[6360, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1082, 27],
  pos=[1082, 3],
  norm=[1082, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6492],
  edge_attr=[6492, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1164, 27],
  pos=[1164, 3],
  norm=[1164, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6984],
  edge_attr=[6984, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1153, 27],
  pos=[1153, 3],
  norm=[1153, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6918],
  edge_attr=[6918, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1198, 27],
  pos=[1198, 3],
  norm=[1198, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7188],
  edge_attr=[7188, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1102, 27],
  pos=[1102, 3],
  norm=[1102, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6612],
  edge_attr=[6612, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1140, 27],
  pos=[1140, 3],
  norm=[1140, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6840],
  edge_attr=[6840, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1211, 27],
  pos=[1211, 3],
  norm=[1211, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7266],
  edge_attr=[7266, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1209, 27],
  pos=[1209, 3],
  norm=[1209, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7254],
  edge_attr=[7254, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1241, 27],
  pos=[1241, 3],
  norm=[1241, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7446],
  edge_attr=[7446, 3]
)

---Updating memory of learning_module_1---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1159, 27],
  pos=[1159, 3],
  norm=[1159, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6954],
  edge_attr=[6954, 3]
)

---Updating memory of learning_module_2---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1185, 27],
  pos=[1185, 3],
  norm=[1185, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7110],
  edge_attr=[7110, 3]
)

---Updating memory of learning_module_3---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1254, 27],
  pos=[1254, 3],
  norm=[1254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7524],
  edge_attr=[7524, 3]
)

---Updating memory of learning_module_4---
c_lego_duplo already in memory (['c_lego_duplo'])
Updating existing graph for c_lego_duplo
building graph
Extended graph c_lego_duplo with new points. New model:
Data(
  x=[1263, 27],
  pos=[1263, 3],
  norm=[1263, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7578],
  edge_attr=[7578, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_c_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[42, 27],
  pos=[42, 3],
  norm=[42, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 252],
  edge_attr=[252, 3]
)
Added new graph with id banana to memory.

---Updating memory of learning_module_1---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[43, 27],
  pos=[43, 3],
  norm=[43, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 258],
  edge_attr=[258, 3]
)
Added new graph with id banana to memory.

---Updating memory of learning_module_2---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[42, 27],
  pos=[42, 3],
  norm=[42, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 252],
  edge_attr=[252, 3]
)
Added new graph with id banana to memory.

---Updating memory of learning_module_3---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[36, 27],
  pos=[36, 3],
  norm=[36, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 216],
  edge_attr=[216, 3]
)
Added new graph with id banana to memory.

---Updating memory of learning_module_4---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[47, 27],
  pos=[47, 3],
  norm=[47, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 282],
  edge_attr=[282, 3]
)
Added new graph with id banana to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[183, 27],
  pos=[183, 3],
  norm=[183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1098],
  edge_attr=[1098, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[177, 27],
  pos=[177, 3],
  norm=[177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1062],
  edge_attr=[1062, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[183, 27],
  pos=[183, 3],
  norm=[183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1098],
  edge_attr=[1098, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[178, 27],
  pos=[178, 3],
  norm=[178, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1068],
  edge_attr=[1068, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[180, 27],
  pos=[180, 3],
  norm=[180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1080],
  edge_attr=[1080, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[301, 27],
  pos=[301, 3],
  norm=[301, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1806],
  edge_attr=[1806, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[282, 27],
  pos=[282, 3],
  norm=[282, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1692],
  edge_attr=[1692, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[306, 27],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1836],
  edge_attr=[1836, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[287, 27],
  pos=[287, 3],
  norm=[287, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1722],
  edge_attr=[1722, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[305, 27],
  pos=[305, 3],
  norm=[305, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1830],
  edge_attr=[1830, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[426, 27],
  pos=[426, 3],
  norm=[426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2556],
  edge_attr=[2556, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[398, 27],
  pos=[398, 3],
  norm=[398, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2388],
  edge_attr=[2388, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[429, 27],
  pos=[429, 3],
  norm=[429, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2574],
  edge_attr=[2574, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[418, 27],
  pos=[418, 3],
  norm=[418, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2508],
  edge_attr=[2508, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[424, 27],
  pos=[424, 3],
  norm=[424, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2544],
  edge_attr=[2544, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[582, 27],
  pos=[582, 3],
  norm=[582, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3492],
  edge_attr=[3492, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[555, 27],
  pos=[555, 3],
  norm=[555, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3330],
  edge_attr=[3330, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[588, 27],
  pos=[588, 3],
  norm=[588, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3528],
  edge_attr=[3528, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[585, 27],
  pos=[585, 3],
  norm=[585, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3510],
  edge_attr=[3510, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[568, 27],
  pos=[568, 3],
  norm=[568, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3408],
  edge_attr=[3408, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[741, 27],
  pos=[741, 3],
  norm=[741, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4446],
  edge_attr=[4446, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[721, 27],
  pos=[721, 3],
  norm=[721, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4326],
  edge_attr=[4326, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[742, 27],
  pos=[742, 3],
  norm=[742, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4452],
  edge_attr=[4452, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[727, 27],
  pos=[727, 3],
  norm=[727, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4362],
  edge_attr=[4362, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[756, 27],
  pos=[756, 3],
  norm=[756, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4536],
  edge_attr=[4536, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[852, 27],
  pos=[852, 3],
  norm=[852, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5112],
  edge_attr=[5112, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[833, 27],
  pos=[833, 3],
  norm=[833, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4998],
  edge_attr=[4998, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[857, 27],
  pos=[857, 3],
  norm=[857, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5142],
  edge_attr=[5142, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[844, 27],
  pos=[844, 3],
  norm=[844, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5064],
  edge_attr=[5064, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[862, 27],
  pos=[862, 3],
  norm=[862, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5172],
  edge_attr=[5172, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[970, 27],
  pos=[970, 3],
  norm=[970, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5820],
  edge_attr=[5820, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[946, 27],
  pos=[946, 3],
  norm=[946, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5676],
  edge_attr=[5676, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[973, 27],
  pos=[973, 3],
  norm=[973, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5838],
  edge_attr=[5838, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[969, 27],
  pos=[969, 3],
  norm=[969, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5814],
  edge_attr=[5814, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[968, 27],
  pos=[968, 3],
  norm=[968, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5808],
  edge_attr=[5808, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1043, 27],
  pos=[1043, 3],
  norm=[1043, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6258],
  edge_attr=[6258, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1028, 27],
  pos=[1028, 3],
  norm=[1028, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6168],
  edge_attr=[6168, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1051, 27],
  pos=[1051, 3],
  norm=[1051, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6306],
  edge_attr=[6306, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1041, 27],
  pos=[1041, 3],
  norm=[1041, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6246],
  edge_attr=[6246, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1064, 27],
  pos=[1064, 3],
  norm=[1064, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6384],
  edge_attr=[6384, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1128, 27],
  pos=[1128, 3],
  norm=[1128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6768],
  edge_attr=[6768, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1103, 27],
  pos=[1103, 3],
  norm=[1103, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6618],
  edge_attr=[6618, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1128, 27],
  pos=[1128, 3],
  norm=[1128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6768],
  edge_attr=[6768, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1107, 27],
  pos=[1107, 3],
  norm=[1107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6642],
  edge_attr=[6642, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1149, 27],
  pos=[1149, 3],
  norm=[1149, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6894],
  edge_attr=[6894, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1264, 27],
  pos=[1264, 3],
  norm=[1264, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7584],
  edge_attr=[7584, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1254, 27],
  pos=[1254, 3],
  norm=[1254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7524],
  edge_attr=[7524, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1252, 27],
  pos=[1252, 3],
  norm=[1252, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7512],
  edge_attr=[7512, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1244, 27],
  pos=[1244, 3],
  norm=[1244, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7464],
  edge_attr=[7464, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1297, 27],
  pos=[1297, 3],
  norm=[1297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7782],
  edge_attr=[7782, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1385, 27],
  pos=[1385, 3],
  norm=[1385, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8310],
  edge_attr=[8310, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1363, 27],
  pos=[1363, 3],
  norm=[1363, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8178],
  edge_attr=[8178, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1395, 27],
  pos=[1395, 3],
  norm=[1395, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8370],
  edge_attr=[8370, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1361, 27],
  pos=[1361, 3],
  norm=[1361, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8166],
  edge_attr=[8166, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1429, 27],
  pos=[1429, 3],
  norm=[1429, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8574],
  edge_attr=[8574, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1436, 27],
  pos=[1436, 3],
  norm=[1436, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8616],
  edge_attr=[8616, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1413, 27],
  pos=[1413, 3],
  norm=[1413, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8478],
  edge_attr=[8478, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1438, 27],
  pos=[1438, 3],
  norm=[1438, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8628],
  edge_attr=[8628, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1418, 27],
  pos=[1418, 3],
  norm=[1418, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8508],
  edge_attr=[8508, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1472, 27],
  pos=[1472, 3],
  norm=[1472, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8832],
  edge_attr=[8832, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1480, 27],
  pos=[1480, 3],
  norm=[1480, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8880],
  edge_attr=[8880, 3]
)

---Updating memory of learning_module_1---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1450, 27],
  pos=[1450, 3],
  norm=[1450, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8700],
  edge_attr=[8700, 3]
)

---Updating memory of learning_module_2---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1488, 27],
  pos=[1488, 3],
  norm=[1488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8928],
  edge_attr=[8928, 3]
)

---Updating memory of learning_module_3---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1470, 27],
  pos=[1470, 3],
  norm=[1470, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8820],
  edge_attr=[8820, 3]
)

---Updating memory of learning_module_4---
banana already in memory (['banana'])
Updating existing graph for banana
building graph
Extended graph banana with new points. New model:
Data(
  x=[1510, 27],
  pos=[1510, 3],
  norm=[1510, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9060],
  edge_attr=[9060, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_5lms/supervised_pre_training_5lms-parallel_train_episode_banana/pretrained
