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_all_objects/supervised_pre_training_5lms_all_objects-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_all_objects/supervised_pre_training_5lms_all_objects-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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_potted_meat_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can not in memory ([])
Adding a new graph to memory.
init object model with id master_chef_can
built graph Data(
  x=[194, 27],
  pos=[194, 3],
  norm=[194, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1164],
  edge_attr=[1164, 3]
)
Added new graph with id master_chef_can to memory.

---Updating memory of learning_module_1---
master_chef_can not in memory ([])
Adding a new graph to memory.
init object model with id master_chef_can
built graph 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]
)
Added new graph with id master_chef_can to memory.

---Updating memory of learning_module_2---
master_chef_can not in memory ([])
Adding a new graph to memory.
init object model with id master_chef_can
built graph 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]
)
Added new graph with id master_chef_can to memory.

---Updating memory of learning_module_3---
master_chef_can not in memory ([])
Adding a new graph to memory.
init object model with id master_chef_can
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id master_chef_can to memory.

---Updating memory of learning_module_4---
master_chef_can not in memory ([])
Adding a new graph to memory.
init object model with id master_chef_can
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id master_chef_can to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[389, 27],
  pos=[389, 3],
  norm=[389, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2334],
  edge_attr=[2334, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[551, 27],
  pos=[551, 3],
  norm=[551, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3306],
  edge_attr=[3306, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[578, 27],
  pos=[578, 3],
  norm=[578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3468],
  edge_attr=[3468, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[579, 27],
  pos=[579, 3],
  norm=[579, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3474],
  edge_attr=[3474, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[769, 27],
  pos=[769, 3],
  norm=[769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4614],
  edge_attr=[4614, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[768, 27],
  pos=[768, 3],
  norm=[768, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4608],
  edge_attr=[4608, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[770, 27],
  pos=[770, 3],
  norm=[770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4620],
  edge_attr=[4620, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[772, 27],
  pos=[772, 3],
  norm=[772, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4632],
  edge_attr=[4632, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[967, 27],
  pos=[967, 3],
  norm=[967, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5802],
  edge_attr=[5802, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[965, 27],
  pos=[965, 3],
  norm=[965, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5790],
  edge_attr=[5790, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1169, 27],
  pos=[1169, 3],
  norm=[1169, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7014],
  edge_attr=[7014, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1162, 27],
  pos=[1162, 3],
  norm=[1162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6972],
  edge_attr=[6972, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1166, 27],
  pos=[1166, 3],
  norm=[1166, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6996],
  edge_attr=[6996, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1166, 27],
  pos=[1166, 3],
  norm=[1166, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6996],
  edge_attr=[6996, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1293, 27],
  pos=[1293, 3],
  norm=[1293, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7758],
  edge_attr=[7758, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1339, 27],
  pos=[1339, 3],
  norm=[1339, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8034],
  edge_attr=[8034, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1337, 27],
  pos=[1337, 3],
  norm=[1337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8022],
  edge_attr=[8022, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1506, 27],
  pos=[1506, 3],
  norm=[1506, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9036],
  edge_attr=[9036, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1453, 27],
  pos=[1453, 3],
  norm=[1453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8718],
  edge_attr=[8718, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1505, 27],
  pos=[1505, 3],
  norm=[1505, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9030],
  edge_attr=[9030, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_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]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1493, 27],
  pos=[1493, 3],
  norm=[1493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8958],
  edge_attr=[8958, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1685, 27],
  pos=[1685, 3],
  norm=[1685, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10110],
  edge_attr=[10110, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1623, 27],
  pos=[1623, 3],
  norm=[1623, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9738],
  edge_attr=[9738, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1682, 27],
  pos=[1682, 3],
  norm=[1682, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10092],
  edge_attr=[10092, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1687, 27],
  pos=[1687, 3],
  norm=[1687, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10122],
  edge_attr=[10122, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1671, 27],
  pos=[1671, 3],
  norm=[1671, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10026],
  edge_attr=[10026, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1845, 27],
  pos=[1845, 3],
  norm=[1845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11070],
  edge_attr=[11070, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_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]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1842, 27],
  pos=[1842, 3],
  norm=[1842, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11052],
  edge_attr=[11052, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1835, 27],
  pos=[1835, 3],
  norm=[1835, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11010],
  edge_attr=[11010, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1841, 27],
  pos=[1841, 3],
  norm=[1841, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11046],
  edge_attr=[11046, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2018, 27],
  pos=[2018, 3],
  norm=[2018, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12108],
  edge_attr=[12108, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[1946, 27],
  pos=[1946, 3],
  norm=[1946, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11676],
  edge_attr=[11676, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2006, 27],
  pos=[2006, 3],
  norm=[2006, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12036],
  edge_attr=[12036, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2000, 27],
  pos=[2000, 3],
  norm=[2000, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12000],
  edge_attr=[12000, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2018, 27],
  pos=[2018, 3],
  norm=[2018, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12108],
  edge_attr=[12108, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2186, 27],
  pos=[2186, 3],
  norm=[2186, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13116],
  edge_attr=[13116, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2106, 27],
  pos=[2106, 3],
  norm=[2106, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12636],
  edge_attr=[12636, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2173, 27],
  pos=[2173, 3],
  norm=[2173, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13038],
  edge_attr=[13038, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2161, 27],
  pos=[2161, 3],
  norm=[2161, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12966],
  edge_attr=[12966, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2191, 27],
  pos=[2191, 3],
  norm=[2191, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13146],
  edge_attr=[13146, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2354, 27],
  pos=[2354, 3],
  norm=[2354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14124],
  edge_attr=[14124, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2267, 27],
  pos=[2267, 3],
  norm=[2267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13602],
  edge_attr=[13602, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2337, 27],
  pos=[2337, 3],
  norm=[2337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14022],
  edge_attr=[14022, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2334, 27],
  pos=[2334, 3],
  norm=[2334, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14004],
  edge_attr=[14004, 3]
)

---Updating memory of learning_module_4---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2361, 27],
  pos=[2361, 3],
  norm=[2361, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14166],
  edge_attr=[14166, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'master_chef_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: master_chef_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2514, 27],
  pos=[2514, 3],
  norm=[2514, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15084],
  edge_attr=[15084, 3]
)

---Updating memory of learning_module_1---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2427, 27],
  pos=[2427, 3],
  norm=[2427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14562],
  edge_attr=[14562, 3]
)

---Updating memory of learning_module_2---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2504, 27],
  pos=[2504, 3],
  norm=[2504, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15024],
  edge_attr=[15024, 3]
)

---Updating memory of learning_module_3---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can 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---
master_chef_can already in memory (['master_chef_can'])
Updating existing graph for master_chef_can
building graph
Extended graph master_chef_can with new points. New model:
Data(
  x=[2529, 27],
  pos=[2529, 3],
  norm=[2529, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15174],
  edge_attr=[15174, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'master_chef_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_master_chef_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups not in memory ([])
Adding a new graph to memory.
init object model with id i_cups
built graph Data(
  x=[220, 27],
  pos=[220, 3],
  norm=[220, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1320],
  edge_attr=[1320, 3]
)
Added new graph with id i_cups to memory.

---Updating memory of learning_module_1---
i_cups not in memory ([])
Adding a new graph to memory.
init object model with id i_cups
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 i_cups to memory.

---Updating memory of learning_module_2---
i_cups not in memory ([])
Adding a new graph to memory.
init object model with id i_cups
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 i_cups to memory.

---Updating memory of learning_module_3---
i_cups not in memory ([])
Adding a new graph to memory.
init object model with id i_cups
built graph 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]
)
Added new graph with id i_cups to memory.

---Updating memory of learning_module_4---
i_cups not in memory ([])
Adding a new graph to memory.
init object model with id i_cups
built graph Data(
  x=[217, 27],
  pos=[217, 3],
  norm=[217, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1302],
  edge_attr=[1302, 3]
)
Added new graph with id i_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[440, 27],
  pos=[440, 3],
  norm=[440, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2640],
  edge_attr=[2640, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[439, 27],
  pos=[439, 3],
  norm=[439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2634],
  edge_attr=[2634, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[434, 27],
  pos=[434, 3],
  norm=[434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2604],
  edge_attr=[2604, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[662, 27],
  pos=[662, 3],
  norm=[662, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3972],
  edge_attr=[3972, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[608, 27],
  pos=[608, 3],
  norm=[608, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3648],
  edge_attr=[3648, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[660, 27],
  pos=[660, 3],
  norm=[660, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3960],
  edge_attr=[3960, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[652, 27],
  pos=[652, 3],
  norm=[652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3912],
  edge_attr=[3912, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[808, 27],
  pos=[808, 3],
  norm=[808, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4848],
  edge_attr=[4848, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[811, 27],
  pos=[811, 3],
  norm=[811, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4866],
  edge_attr=[4866, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[869, 27],
  pos=[869, 3],
  norm=[869, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5214],
  edge_attr=[5214, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1026, 27],
  pos=[1026, 3],
  norm=[1026, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6156],
  edge_attr=[6156, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1036, 27],
  pos=[1036, 3],
  norm=[1036, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6216],
  edge_attr=[6216, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1097, 27],
  pos=[1097, 3],
  norm=[1097, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6582],
  edge_attr=[6582, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1319, 27],
  pos=[1319, 3],
  norm=[1319, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7914],
  edge_attr=[7914, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1233, 27],
  pos=[1233, 3],
  norm=[1233, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7398],
  edge_attr=[7398, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1247, 27],
  pos=[1247, 3],
  norm=[1247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7482],
  edge_attr=[7482, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1301, 27],
  pos=[1301, 3],
  norm=[1301, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7806],
  edge_attr=[7806, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1289, 27],
  pos=[1289, 3],
  norm=[1289, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7734],
  edge_attr=[7734, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1477, 27],
  pos=[1477, 3],
  norm=[1477, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8862],
  edge_attr=[8862, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1378, 27],
  pos=[1378, 3],
  norm=[1378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8268],
  edge_attr=[8268, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1417, 27],
  pos=[1417, 3],
  norm=[1417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8502],
  edge_attr=[8502, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1458, 27],
  pos=[1458, 3],
  norm=[1458, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8748],
  edge_attr=[8748, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1455, 27],
  pos=[1455, 3],
  norm=[1455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8730],
  edge_attr=[8730, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1683, 27],
  pos=[1683, 3],
  norm=[1683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10098],
  edge_attr=[10098, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1584, 27],
  pos=[1584, 3],
  norm=[1584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9504],
  edge_attr=[9504, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1652, 27],
  pos=[1652, 3],
  norm=[1652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9912],
  edge_attr=[9912, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1655, 27],
  pos=[1655, 3],
  norm=[1655, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9930],
  edge_attr=[9930, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1843, 27],
  pos=[1843, 3],
  norm=[1843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11058],
  edge_attr=[11058, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1729, 27],
  pos=[1729, 3],
  norm=[1729, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10374],
  edge_attr=[10374, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1771, 27],
  pos=[1771, 3],
  norm=[1771, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10626],
  edge_attr=[10626, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1819, 27],
  pos=[1819, 3],
  norm=[1819, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10914],
  edge_attr=[10914, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1805, 27],
  pos=[1805, 3],
  norm=[1805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10830],
  edge_attr=[10830, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2056, 27],
  pos=[2056, 3],
  norm=[2056, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12336],
  edge_attr=[12336, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1930, 27],
  pos=[1930, 3],
  norm=[1930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11580],
  edge_attr=[11580, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[1954, 27],
  pos=[1954, 3],
  norm=[1954, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11724],
  edge_attr=[11724, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2024, 27],
  pos=[2024, 3],
  norm=[2024, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12144],
  edge_attr=[12144, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2006, 27],
  pos=[2006, 3],
  norm=[2006, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12036],
  edge_attr=[12036, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2243, 27],
  pos=[2243, 3],
  norm=[2243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13458],
  edge_attr=[13458, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2213, 27],
  pos=[2213, 3],
  norm=[2213, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13278],
  edge_attr=[13278, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2409, 27],
  pos=[2409, 3],
  norm=[2409, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14454],
  edge_attr=[14454, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2278, 27],
  pos=[2278, 3],
  norm=[2278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13668],
  edge_attr=[13668, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2301, 27],
  pos=[2301, 3],
  norm=[2301, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13806],
  edge_attr=[13806, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2355, 27],
  pos=[2355, 3],
  norm=[2355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14130],
  edge_attr=[14130, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2639, 27],
  pos=[2639, 3],
  norm=[2639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15834],
  edge_attr=[15834, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2495, 27],
  pos=[2495, 3],
  norm=[2495, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14970],
  edge_attr=[14970, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups 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_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2598, 27],
  pos=[2598, 3],
  norm=[2598, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15588],
  edge_attr=[15588, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2573, 27],
  pos=[2573, 3],
  norm=[2573, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15438],
  edge_attr=[15438, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'i_cups',
 '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: i_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2772, 27],
  pos=[2772, 3],
  norm=[2772, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16632],
  edge_attr=[16632, 3]
)

---Updating memory of learning_module_1---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2627, 27],
  pos=[2627, 3],
  norm=[2627, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15762],
  edge_attr=[15762, 3]
)

---Updating memory of learning_module_2---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2656, 27],
  pos=[2656, 3],
  norm=[2656, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15936],
  edge_attr=[15936, 3]
)

---Updating memory of learning_module_3---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2746, 27],
  pos=[2746, 3],
  norm=[2746, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16476],
  edge_attr=[16476, 3]
)

---Updating memory of learning_module_4---
i_cups already in memory (['i_cups'])
Updating existing graph for i_cups
building graph
Extended graph i_cups with new points. New model:
Data(
  x=[2719, 27],
  pos=[2719, 3],
  norm=[2719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16314],
  edge_attr=[16314, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'i_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_i_cups/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_spoon/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups not in memory ([])
Adding a new graph to memory.
init object model with id b_cups
built graph Data(
  x=[167, 27],
  pos=[167, 3],
  norm=[167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1002],
  edge_attr=[1002, 3]
)
Added new graph with id b_cups to memory.

---Updating memory of learning_module_1---
b_cups not in memory ([])
Adding a new graph to memory.
init object model with id b_cups
built graph Data(
  x=[155, 27],
  pos=[155, 3],
  norm=[155, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 930],
  edge_attr=[930, 3]
)
Added new graph with id b_cups to memory.

---Updating memory of learning_module_2---
b_cups not in memory ([])
Adding a new graph to memory.
init object model with id b_cups
built graph Data(
  x=[155, 27],
  pos=[155, 3],
  norm=[155, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 930],
  edge_attr=[930, 3]
)
Added new graph with id b_cups to memory.

---Updating memory of learning_module_3---
b_cups not in memory ([])
Adding a new graph to memory.
init object model with id b_cups
built graph 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]
)
Added new graph with id b_cups to memory.

---Updating memory of learning_module_4---
b_cups not in memory ([])
Adding a new graph to memory.
init object model with id b_cups
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 b_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[333, 27],
  pos=[333, 3],
  norm=[333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1998],
  edge_attr=[1998, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[312, 27],
  pos=[312, 3],
  norm=[312, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1872],
  edge_attr=[1872, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[307, 27],
  pos=[307, 3],
  norm=[307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1842],
  edge_attr=[1842, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[343, 27],
  pos=[343, 3],
  norm=[343, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2058],
  edge_attr=[2058, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[351, 27],
  pos=[351, 3],
  norm=[351, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2106],
  edge_attr=[2106, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[527, 27],
  pos=[527, 3],
  norm=[527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3162],
  edge_attr=[3162, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[667, 27],
  pos=[667, 3],
  norm=[667, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4002],
  edge_attr=[4002, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[691, 27],
  pos=[691, 3],
  norm=[691, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4146],
  edge_attr=[4146, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1109, 27],
  pos=[1109, 3],
  norm=[1109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6654],
  edge_attr=[6654, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1019, 27],
  pos=[1019, 3],
  norm=[1019, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6114],
  edge_attr=[6114, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1228, 27],
  pos=[1228, 3],
  norm=[1228, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7368],
  edge_attr=[7368, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1127, 27],
  pos=[1127, 3],
  norm=[1127, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6762],
  edge_attr=[6762, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1145, 27],
  pos=[1145, 3],
  norm=[1145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6870],
  edge_attr=[6870, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1246, 27],
  pos=[1246, 3],
  norm=[1246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7476],
  edge_attr=[7476, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1339, 27],
  pos=[1339, 3],
  norm=[1339, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8034],
  edge_attr=[8034, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1465, 27],
  pos=[1465, 3],
  norm=[1465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8790],
  edge_attr=[8790, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1364, 27],
  pos=[1364, 3],
  norm=[1364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8184],
  edge_attr=[8184, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1578, 27],
  pos=[1578, 3],
  norm=[1578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9468],
  edge_attr=[9468, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1464, 27],
  pos=[1464, 3],
  norm=[1464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8784],
  edge_attr=[8784, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1559, 27],
  pos=[1559, 3],
  norm=[1559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9354],
  edge_attr=[9354, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1570, 27],
  pos=[1570, 3],
  norm=[1570, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9420],
  edge_attr=[9420, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1698, 27],
  pos=[1698, 3],
  norm=[1698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10188],
  edge_attr=[10188, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1586, 27],
  pos=[1586, 3],
  norm=[1586, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9516],
  edge_attr=[9516, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1587, 27],
  pos=[1587, 3],
  norm=[1587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9522],
  edge_attr=[9522, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1678, 27],
  pos=[1678, 3],
  norm=[1678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10068],
  edge_attr=[10068, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1690, 27],
  pos=[1690, 3],
  norm=[1690, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10140],
  edge_attr=[10140, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1686, 27],
  pos=[1686, 3],
  norm=[1686, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10116],
  edge_attr=[10116, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1698, 27],
  pos=[1698, 3],
  norm=[1698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10188],
  edge_attr=[10188, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1786, 27],
  pos=[1786, 3],
  norm=[1786, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10716],
  edge_attr=[10716, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1795, 27],
  pos=[1795, 3],
  norm=[1795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10770],
  edge_attr=[10770, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1918, 27],
  pos=[1918, 3],
  norm=[1918, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11508],
  edge_attr=[11508, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1810, 27],
  pos=[1810, 3],
  norm=[1810, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10860],
  edge_attr=[10860, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1904, 27],
  pos=[1904, 3],
  norm=[1904, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11424],
  edge_attr=[11424, 3]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1919, 27],
  pos=[1919, 3],
  norm=[1919, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11514],
  edge_attr=[11514, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'b_cups',
 '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: b_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[2023, 27],
  pos=[2023, 3],
  norm=[2023, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12138],
  edge_attr=[12138, 3]
)

---Updating memory of learning_module_1---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1910, 27],
  pos=[1910, 3],
  norm=[1910, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11460],
  edge_attr=[11460, 3]
)

---Updating memory of learning_module_2---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[1915, 27],
  pos=[1915, 3],
  norm=[1915, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11490],
  edge_attr=[11490, 3]
)

---Updating memory of learning_module_3---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups 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]
)

---Updating memory of learning_module_4---
b_cups already in memory (['b_cups'])
Updating existing graph for b_cups
building graph
Extended graph b_cups with new points. New model:
Data(
  x=[2028, 27],
  pos=[2028, 3],
  norm=[2028, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12168],
  edge_attr=[12168, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_b_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base not in memory ([])
Adding a new graph to memory.
init object model with id pitcher_base
built graph 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]
)
Added new graph with id pitcher_base to memory.

---Updating memory of learning_module_1---
pitcher_base not in memory ([])
Adding a new graph to memory.
init object model with id pitcher_base
built graph 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]
)
Added new graph with id pitcher_base to memory.

---Updating memory of learning_module_2---
pitcher_base not in memory ([])
Adding a new graph to memory.
init object model with id pitcher_base
built graph 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]
)
Added new graph with id pitcher_base to memory.

---Updating memory of learning_module_3---
pitcher_base not in memory ([])
Adding a new graph to memory.
init object model with id pitcher_base
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 pitcher_base to memory.

---Updating memory of learning_module_4---
pitcher_base not in memory ([])
Adding a new graph to memory.
init object model with id pitcher_base
built graph 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]
)
Added new graph with id pitcher_base to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[602, 27],
  pos=[602, 3],
  norm=[602, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3612],
  edge_attr=[3612, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[782, 27],
  pos=[782, 3],
  norm=[782, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4692],
  edge_attr=[4692, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[797, 27],
  pos=[797, 3],
  norm=[797, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4782],
  edge_attr=[4782, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[789, 27],
  pos=[789, 3],
  norm=[789, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4734],
  edge_attr=[4734, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1011, 27],
  pos=[1011, 3],
  norm=[1011, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6066],
  edge_attr=[6066, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1003, 27],
  pos=[1003, 3],
  norm=[1003, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6018],
  edge_attr=[6018, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1199, 27],
  pos=[1199, 3],
  norm=[1199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7194],
  edge_attr=[7194, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1188, 27],
  pos=[1188, 3],
  norm=[1188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7128],
  edge_attr=[7128, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1182, 27],
  pos=[1182, 3],
  norm=[1182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7092],
  edge_attr=[7092, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1197, 27],
  pos=[1197, 3],
  norm=[1197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7182],
  edge_attr=[7182, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1184, 27],
  pos=[1184, 3],
  norm=[1184, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7104],
  edge_attr=[7104, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1378, 27],
  pos=[1378, 3],
  norm=[1378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8268],
  edge_attr=[8268, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1378, 27],
  pos=[1378, 3],
  norm=[1378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8268],
  edge_attr=[8268, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1358, 27],
  pos=[1358, 3],
  norm=[1358, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8148],
  edge_attr=[8148, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1384, 27],
  pos=[1384, 3],
  norm=[1384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8304],
  edge_attr=[8304, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1359, 27],
  pos=[1359, 3],
  norm=[1359, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8154],
  edge_attr=[8154, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1547, 27],
  pos=[1547, 3],
  norm=[1547, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9282],
  edge_attr=[9282, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1546, 27],
  pos=[1546, 3],
  norm=[1546, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9276],
  edge_attr=[9276, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1535, 27],
  pos=[1535, 3],
  norm=[1535, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9210],
  edge_attr=[9210, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1564, 27],
  pos=[1564, 3],
  norm=[1564, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9384],
  edge_attr=[9384, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1741, 27],
  pos=[1741, 3],
  norm=[1741, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10446],
  edge_attr=[10446, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1713, 27],
  pos=[1713, 3],
  norm=[1713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10278],
  edge_attr=[10278, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1744, 27],
  pos=[1744, 3],
  norm=[1744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10464],
  edge_attr=[10464, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1710, 27],
  pos=[1710, 3],
  norm=[1710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10260],
  edge_attr=[10260, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1917, 27],
  pos=[1917, 3],
  norm=[1917, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11502],
  edge_attr=[11502, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1918, 27],
  pos=[1918, 3],
  norm=[1918, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11508],
  edge_attr=[11508, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1899, 27],
  pos=[1899, 3],
  norm=[1899, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11394],
  edge_attr=[11394, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[1892, 27],
  pos=[1892, 3],
  norm=[1892, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11352],
  edge_attr=[11352, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2098, 27],
  pos=[2098, 3],
  norm=[2098, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12588],
  edge_attr=[12588, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base 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_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2088, 27],
  pos=[2088, 3],
  norm=[2088, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12528],
  edge_attr=[12528, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2092, 27],
  pos=[2092, 3],
  norm=[2092, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12552],
  edge_attr=[12552, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2080, 27],
  pos=[2080, 3],
  norm=[2080, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12480],
  edge_attr=[12480, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2280, 27],
  pos=[2280, 3],
  norm=[2280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13680],
  edge_attr=[13680, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2280, 27],
  pos=[2280, 3],
  norm=[2280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13680],
  edge_attr=[13680, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2265, 27],
  pos=[2265, 3],
  norm=[2265, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13590],
  edge_attr=[13590, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2262, 27],
  pos=[2262, 3],
  norm=[2262, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13572],
  edge_attr=[13572, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2259, 27],
  pos=[2259, 3],
  norm=[2259, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13554],
  edge_attr=[13554, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2473, 27],
  pos=[2473, 3],
  norm=[2473, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14838],
  edge_attr=[14838, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2464, 27],
  pos=[2464, 3],
  norm=[2464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14784],
  edge_attr=[14784, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2460, 27],
  pos=[2460, 3],
  norm=[2460, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14760],
  edge_attr=[14760, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2455, 27],
  pos=[2455, 3],
  norm=[2455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14730],
  edge_attr=[14730, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2455, 27],
  pos=[2455, 3],
  norm=[2455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14730],
  edge_attr=[14730, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'pitcher_base',
 '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: pitcher_base
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2638, 27],
  pos=[2638, 3],
  norm=[2638, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15828],
  edge_attr=[15828, 3]
)

---Updating memory of learning_module_1---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2643, 27],
  pos=[2643, 3],
  norm=[2643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15858],
  edge_attr=[15858, 3]
)

---Updating memory of learning_module_2---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2616, 27],
  pos=[2616, 3],
  norm=[2616, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15696],
  edge_attr=[15696, 3]
)

---Updating memory of learning_module_3---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2620, 27],
  pos=[2620, 3],
  norm=[2620, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15720],
  edge_attr=[15720, 3]
)

---Updating memory of learning_module_4---
pitcher_base already in memory (['pitcher_base'])
Updating existing graph for pitcher_base
building graph
Extended graph pitcher_base with new points. New model:
Data(
  x=[2626, 27],
  pos=[2626, 3],
  norm=[2626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15756],
  edge_attr=[15756, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pitcher_base',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_pitcher_base/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife not in memory ([])
Adding a new graph to memory.
init object model with id knife
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 knife to memory.

---Updating memory of learning_module_1---
knife not in memory ([])
Adding a new graph to memory.
init object model with id knife
built graph Data(
  x=[30, 27],
  pos=[30, 3],
  norm=[30, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 180],
  edge_attr=[180, 3]
)
Added new graph with id knife to memory.

---Updating memory of learning_module_2---
knife not in memory ([])
Adding a new graph to memory.
init object model with id knife
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 knife to memory.

---Updating memory of learning_module_3---
knife not in memory ([])
Adding a new graph to memory.
init object model with id knife
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 knife to memory.

---Updating memory of learning_module_4---
knife not in memory ([])
Adding a new graph to memory.
init object model with id knife
built graph Data(
  x=[31, 27],
  pos=[31, 3],
  norm=[31, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 186],
  edge_attr=[186, 3]
)
Added new graph with id knife to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[45, 27],
  pos=[45, 3],
  norm=[45, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 270],
  edge_attr=[270, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
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]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
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]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[46, 27],
  pos=[46, 3],
  norm=[46, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 276],
  edge_attr=[276, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[71, 27],
  pos=[71, 3],
  norm=[71, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 426],
  edge_attr=[426, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[92, 27],
  pos=[92, 3],
  norm=[92, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 552],
  edge_attr=[552, 3]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
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]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[73, 27],
  pos=[73, 3],
  norm=[73, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 438],
  edge_attr=[438, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
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]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[119, 27],
  pos=[119, 3],
  norm=[119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 714],
  edge_attr=[714, 3]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[113, 27],
  pos=[113, 3],
  norm=[113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 678],
  edge_attr=[678, 3]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[280, 27],
  pos=[280, 3],
  norm=[280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1680],
  edge_attr=[1680, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[268, 27],
  pos=[268, 3],
  norm=[268, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1608],
  edge_attr=[1608, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[286, 27],
  pos=[286, 3],
  norm=[286, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1716],
  edge_attr=[1716, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[286, 27],
  pos=[286, 3],
  norm=[286, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1716],
  edge_attr=[1716, 3]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[284, 27],
  pos=[284, 3],
  norm=[284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1704],
  edge_attr=[1704, 3]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[298, 27],
  pos=[298, 3],
  norm=[298, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1788],
  edge_attr=[1788, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[290, 27],
  pos=[290, 3],
  norm=[290, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1740],
  edge_attr=[1740, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[382, 27],
  pos=[382, 3],
  norm=[382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2292],
  edge_attr=[2292, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[403, 27],
  pos=[403, 3],
  norm=[403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2418],
  edge_attr=[2418, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[445, 27],
  pos=[445, 3],
  norm=[445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2670],
  edge_attr=[2670, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[397, 27],
  pos=[397, 3],
  norm=[397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2382],
  edge_attr=[2382, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[436, 27],
  pos=[436, 3],
  norm=[436, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2616],
  edge_attr=[2616, 3]
)

---Updating memory of learning_module_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[441, 27],
  pos=[441, 3],
  norm=[441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2646],
  edge_attr=[2646, 3]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'knife',
 '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: knife
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife 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_1---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[462, 27],
  pos=[462, 3],
  norm=[462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2772],
  edge_attr=[2772, 3]
)

---Updating memory of learning_module_2---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[477, 27],
  pos=[477, 3],
  norm=[477, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2862],
  edge_attr=[2862, 3]
)

---Updating memory of learning_module_3---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[480, 27],
  pos=[480, 3],
  norm=[480, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2880],
  edge_attr=[2880, 3]
)

---Updating memory of learning_module_4---
knife already in memory (['knife'])
Updating existing graph for knife
building graph
Extended graph knife with new points. New model:
Data(
  x=[453, 27],
  pos=[453, 3],
  norm=[453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2718],
  edge_attr=[2718, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'knife',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_knife/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles not in memory ([])
Adding a new graph to memory.
init object model with id b_marbles
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 b_marbles to memory.

---Updating memory of learning_module_1---
b_marbles not in memory ([])
Adding a new graph to memory.
init object model with id b_marbles
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id b_marbles to memory.

---Updating memory of learning_module_2---
b_marbles not in memory ([])
Adding a new graph to memory.
init object model with id b_marbles
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 b_marbles to memory.

---Updating memory of learning_module_3---
b_marbles not in memory ([])
Adding a new graph to memory.
init object model with id b_marbles
built graph 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]
)
Added new graph with id b_marbles to memory.

---Updating memory of learning_module_4---
b_marbles not in memory ([])
Adding a new graph to memory.
init object model with id b_marbles
built graph 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]
)
Added new graph with id b_marbles to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[171, 27],
  pos=[171, 3],
  norm=[171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1026],
  edge_attr=[1026, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[167, 27],
  pos=[167, 3],
  norm=[167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1002],
  edge_attr=[1002, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[167, 27],
  pos=[167, 3],
  norm=[167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1002],
  edge_attr=[1002, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[187, 27],
  pos=[187, 3],
  norm=[187, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1122],
  edge_attr=[1122, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[188, 27],
  pos=[188, 3],
  norm=[188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1128],
  edge_attr=[1128, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[256, 27],
  pos=[256, 3],
  norm=[256, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1536],
  edge_attr=[1536, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[249, 27],
  pos=[249, 3],
  norm=[249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1494],
  edge_attr=[1494, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[250, 27],
  pos=[250, 3],
  norm=[250, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1500],
  edge_attr=[1500, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[281, 27],
  pos=[281, 3],
  norm=[281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1686],
  edge_attr=[1686, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[281, 27],
  pos=[281, 3],
  norm=[281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1686],
  edge_attr=[1686, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[339, 27],
  pos=[339, 3],
  norm=[339, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2034],
  edge_attr=[2034, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[331, 27],
  pos=[331, 3],
  norm=[331, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1986],
  edge_attr=[1986, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[333, 27],
  pos=[333, 3],
  norm=[333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1998],
  edge_attr=[1998, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[401, 27],
  pos=[401, 3],
  norm=[401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2406],
  edge_attr=[2406, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[457, 27],
  pos=[457, 3],
  norm=[457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2742],
  edge_attr=[2742, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[488, 27],
  pos=[488, 3],
  norm=[488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2928],
  edge_attr=[2928, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[483, 27],
  pos=[483, 3],
  norm=[483, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2898],
  edge_attr=[2898, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[493, 27],
  pos=[493, 3],
  norm=[493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2958],
  edge_attr=[2958, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[543, 27],
  pos=[543, 3],
  norm=[543, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3258],
  edge_attr=[3258, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[545, 27],
  pos=[545, 3],
  norm=[545, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3270],
  edge_attr=[3270, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[533, 27],
  pos=[533, 3],
  norm=[533, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3198],
  edge_attr=[3198, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[548, 27],
  pos=[548, 3],
  norm=[548, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3288],
  edge_attr=[3288, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[590, 27],
  pos=[590, 3],
  norm=[590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3540],
  edge_attr=[3540, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[592, 27],
  pos=[592, 3],
  norm=[592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3552],
  edge_attr=[3552, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[635, 27],
  pos=[635, 3],
  norm=[635, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3810],
  edge_attr=[3810, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[646, 27],
  pos=[646, 3],
  norm=[646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3876],
  edge_attr=[3876, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[638, 27],
  pos=[638, 3],
  norm=[638, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3828],
  edge_attr=[3828, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[698, 27],
  pos=[698, 3],
  norm=[698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4188],
  edge_attr=[4188, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[694, 27],
  pos=[694, 3],
  norm=[694, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4164],
  edge_attr=[4164, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[690, 27],
  pos=[690, 3],
  norm=[690, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4140],
  edge_attr=[4140, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[691, 27],
  pos=[691, 3],
  norm=[691, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4146],
  edge_attr=[4146, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[668, 27],
  pos=[668, 3],
  norm=[668, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4008],
  edge_attr=[4008, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[747, 27],
  pos=[747, 3],
  norm=[747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4482],
  edge_attr=[4482, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[753, 27],
  pos=[753, 3],
  norm=[753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4518],
  edge_attr=[4518, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[710, 27],
  pos=[710, 3],
  norm=[710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4260],
  edge_attr=[4260, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[798, 27],
  pos=[798, 3],
  norm=[798, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4788],
  edge_attr=[4788, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[791, 27],
  pos=[791, 3],
  norm=[791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4746],
  edge_attr=[4746, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[783, 27],
  pos=[783, 3],
  norm=[783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4698],
  edge_attr=[4698, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[766, 27],
  pos=[766, 3],
  norm=[766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4596],
  edge_attr=[4596, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[838, 27],
  pos=[838, 3],
  norm=[838, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5028],
  edge_attr=[5028, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[845, 27],
  pos=[845, 3],
  norm=[845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5070],
  edge_attr=[5070, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[808, 27],
  pos=[808, 3],
  norm=[808, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4848],
  edge_attr=[4848, 3]
)

---Updating memory of learning_module_3---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[892, 27],
  pos=[892, 3],
  norm=[892, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5352],
  edge_attr=[5352, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'b_marbles',
 '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: b_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[883, 27],
  pos=[883, 3],
  norm=[883, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5298],
  edge_attr=[5298, 3]
)

---Updating memory of learning_module_1---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[876, 27],
  pos=[876, 3],
  norm=[876, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5256],
  edge_attr=[5256, 3]
)

---Updating memory of learning_module_2---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles 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---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[931, 27],
  pos=[931, 3],
  norm=[931, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5586],
  edge_attr=[5586, 3]
)

---Updating memory of learning_module_4---
b_marbles already in memory (['b_marbles'])
Updating existing graph for b_marbles
building graph
Extended graph b_marbles with new points. New model:
Data(
  x=[947, 27],
  pos=[947, 3],
  norm=[947, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5682],
  edge_attr=[5682, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_marbles',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_b_marbles/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups not in memory ([])
Adding a new graph to memory.
init object model with id h_cups
built graph 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]
)
Added new graph with id h_cups to memory.

---Updating memory of learning_module_1---
h_cups not in memory ([])
Adding a new graph to memory.
init object model with id h_cups
built graph 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]
)
Added new graph with id h_cups to memory.

---Updating memory of learning_module_2---
h_cups not in memory ([])
Adding a new graph to memory.
init object model with id h_cups
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 h_cups to memory.

---Updating memory of learning_module_3---
h_cups not in memory ([])
Adding a new graph to memory.
init object model with id h_cups
built graph 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]
)
Added new graph with id h_cups to memory.

---Updating memory of learning_module_4---
h_cups not in memory ([])
Adding a new graph to memory.
init object model with id h_cups
built graph 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]
)
Added new graph with id h_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[370, 27],
  pos=[370, 3],
  norm=[370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2220],
  edge_attr=[2220, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[354, 27],
  pos=[354, 3],
  norm=[354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2124],
  edge_attr=[2124, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[395, 27],
  pos=[395, 3],
  norm=[395, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2370],
  edge_attr=[2370, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[554, 27],
  pos=[554, 3],
  norm=[554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3324],
  edge_attr=[3324, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[530, 27],
  pos=[530, 3],
  norm=[530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3180],
  edge_attr=[3180, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[520, 27],
  pos=[520, 3],
  norm=[520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3120],
  edge_attr=[3120, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[592, 27],
  pos=[592, 3],
  norm=[592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3552],
  edge_attr=[3552, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[591, 27],
  pos=[591, 3],
  norm=[591, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3546],
  edge_attr=[3546, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[740, 27],
  pos=[740, 3],
  norm=[740, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4440],
  edge_attr=[4440, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[708, 27],
  pos=[708, 3],
  norm=[708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4248],
  edge_attr=[4248, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[697, 27],
  pos=[697, 3],
  norm=[697, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4182],
  edge_attr=[4182, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[786, 27],
  pos=[786, 3],
  norm=[786, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4716],
  edge_attr=[4716, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[903, 27],
  pos=[903, 3],
  norm=[903, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5418],
  edge_attr=[5418, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[893, 27],
  pos=[893, 3],
  norm=[893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5358],
  edge_attr=[5358, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[991, 27],
  pos=[991, 3],
  norm=[991, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5946],
  edge_attr=[5946, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[989, 27],
  pos=[989, 3],
  norm=[989, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5934],
  edge_attr=[5934, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1135, 27],
  pos=[1135, 3],
  norm=[1135, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6810],
  edge_attr=[6810, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1091, 27],
  pos=[1091, 3],
  norm=[1091, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6546],
  edge_attr=[6546, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1084, 27],
  pos=[1084, 3],
  norm=[1084, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6504],
  edge_attr=[6504, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1179, 27],
  pos=[1179, 3],
  norm=[1179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7074],
  edge_attr=[7074, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1179, 27],
  pos=[1179, 3],
  norm=[1179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7074],
  edge_attr=[7074, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1279, 27],
  pos=[1279, 3],
  norm=[1279, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7674],
  edge_attr=[7674, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1481, 27],
  pos=[1481, 3],
  norm=[1481, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8886],
  edge_attr=[8886, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1407, 27],
  pos=[1407, 3],
  norm=[1407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8442],
  edge_attr=[8442, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1410, 27],
  pos=[1410, 3],
  norm=[1410, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8460],
  edge_attr=[8460, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1509, 27],
  pos=[1509, 3],
  norm=[1509, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9054],
  edge_attr=[9054, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1527, 27],
  pos=[1527, 3],
  norm=[1527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9162],
  edge_attr=[9162, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1535, 27],
  pos=[1535, 3],
  norm=[1535, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9210],
  edge_attr=[9210, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1570, 27],
  pos=[1570, 3],
  norm=[1570, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9420],
  edge_attr=[9420, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1663, 27],
  pos=[1663, 3],
  norm=[1663, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9978],
  edge_attr=[9978, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1814, 27],
  pos=[1814, 3],
  norm=[1814, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10884],
  edge_attr=[10884, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1726, 27],
  pos=[1726, 3],
  norm=[1726, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10356],
  edge_attr=[10356, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1735, 27],
  pos=[1735, 3],
  norm=[1735, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10410],
  edge_attr=[10410, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1853, 27],
  pos=[1853, 3],
  norm=[1853, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11118],
  edge_attr=[11118, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1849, 27],
  pos=[1849, 3],
  norm=[1849, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11094],
  edge_attr=[11094, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1930, 27],
  pos=[1930, 3],
  norm=[1930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11580],
  edge_attr=[11580, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[1912, 27],
  pos=[1912, 3],
  norm=[1912, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11472],
  edge_attr=[11472, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2060, 27],
  pos=[2060, 3],
  norm=[2060, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12360],
  edge_attr=[12360, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2044, 27],
  pos=[2044, 3],
  norm=[2044, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12264],
  edge_attr=[12264, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2151, 27],
  pos=[2151, 3],
  norm=[2151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12906],
  edge_attr=[12906, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups 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_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2058, 27],
  pos=[2058, 3],
  norm=[2058, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12348],
  edge_attr=[12348, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2197, 27],
  pos=[2197, 3],
  norm=[2197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13182],
  edge_attr=[13182, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2172, 27],
  pos=[2172, 3],
  norm=[2172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13032],
  edge_attr=[13032, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2360, 27],
  pos=[2360, 3],
  norm=[2360, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14160],
  edge_attr=[14160, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2246, 27],
  pos=[2246, 3],
  norm=[2246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13476],
  edge_attr=[13476, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2239, 27],
  pos=[2239, 3],
  norm=[2239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13434],
  edge_attr=[13434, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2392, 27],
  pos=[2392, 3],
  norm=[2392, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14352],
  edge_attr=[14352, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2381, 27],
  pos=[2381, 3],
  norm=[2381, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14286],
  edge_attr=[14286, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'h_cups',
 '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: h_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2490, 27],
  pos=[2490, 3],
  norm=[2490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14940],
  edge_attr=[14940, 3]
)

---Updating memory of learning_module_1---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2356, 27],
  pos=[2356, 3],
  norm=[2356, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14136],
  edge_attr=[14136, 3]
)

---Updating memory of learning_module_2---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2384, 27],
  pos=[2384, 3],
  norm=[2384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14304],
  edge_attr=[14304, 3]
)

---Updating memory of learning_module_3---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2520, 27],
  pos=[2520, 3],
  norm=[2520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15120],
  edge_attr=[15120, 3]
)

---Updating memory of learning_module_4---
h_cups already in memory (['h_cups'])
Updating existing graph for h_cups
building graph
Extended graph h_cups with new points. New model:
Data(
  x=[2517, 27],
  pos=[2517, 3],
  norm=[2517, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15102],
  edge_attr=[15102, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'h_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_h_cups/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_strawberry/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill not in memory ([])
Adding a new graph to memory.
init object model with id power_drill
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 power_drill to memory.

---Updating memory of learning_module_1---
power_drill not in memory ([])
Adding a new graph to memory.
init object model with id power_drill
built graph Data(
  x=[205, 27],
  pos=[205, 3],
  norm=[205, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1230],
  edge_attr=[1230, 3]
)
Added new graph with id power_drill to memory.

---Updating memory of learning_module_2---
power_drill not in memory ([])
Adding a new graph to memory.
init object model with id power_drill
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 power_drill to memory.

---Updating memory of learning_module_3---
power_drill not in memory ([])
Adding a new graph to memory.
init object model with id power_drill
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 power_drill to memory.

---Updating memory of learning_module_4---
power_drill not in memory ([])
Adding a new graph to memory.
init object model with id power_drill
built graph Data(
  x=[188, 27],
  pos=[188, 3],
  norm=[188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1128],
  edge_attr=[1128, 3]
)
Added new graph with id power_drill to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[281, 27],
  pos=[281, 3],
  norm=[281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1686],
  edge_attr=[1686, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[493, 27],
  pos=[493, 3],
  norm=[493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2958],
  edge_attr=[2958, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[489, 27],
  pos=[489, 3],
  norm=[489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2934],
  edge_attr=[2934, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[483, 27],
  pos=[483, 3],
  norm=[483, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2898],
  edge_attr=[2898, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[616, 27],
  pos=[616, 3],
  norm=[616, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3696],
  edge_attr=[3696, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[613, 27],
  pos=[613, 3],
  norm=[613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3678],
  edge_attr=[3678, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[724, 27],
  pos=[724, 3],
  norm=[724, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4344],
  edge_attr=[4344, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[716, 27],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4296],
  edge_attr=[4296, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[719, 27],
  pos=[719, 3],
  norm=[719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4314],
  edge_attr=[4314, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[837, 27],
  pos=[837, 3],
  norm=[837, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5022],
  edge_attr=[5022, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[840, 27],
  pos=[840, 3],
  norm=[840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5040],
  edge_attr=[5040, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[909, 27],
  pos=[909, 3],
  norm=[909, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5454],
  edge_attr=[5454, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[915, 27],
  pos=[915, 3],
  norm=[915, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5490],
  edge_attr=[5490, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[931, 27],
  pos=[931, 3],
  norm=[931, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5586],
  edge_attr=[5586, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[997, 27],
  pos=[997, 3],
  norm=[997, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5982],
  edge_attr=[5982, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[994, 27],
  pos=[994, 3],
  norm=[994, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5964],
  edge_attr=[5964, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1030, 27],
  pos=[1030, 3],
  norm=[1030, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6180],
  edge_attr=[6180, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1124, 27],
  pos=[1124, 3],
  norm=[1124, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6744],
  edge_attr=[6744, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1098, 27],
  pos=[1098, 3],
  norm=[1098, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6588],
  edge_attr=[6588, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1115, 27],
  pos=[1115, 3],
  norm=[1115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6690],
  edge_attr=[6690, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1129, 27],
  pos=[1129, 3],
  norm=[1129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6774],
  edge_attr=[6774, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1090, 27],
  pos=[1090, 3],
  norm=[1090, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6540],
  edge_attr=[6540, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1247, 27],
  pos=[1247, 3],
  norm=[1247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7482],
  edge_attr=[7482, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1232, 27],
  pos=[1232, 3],
  norm=[1232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7392],
  edge_attr=[7392, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1233, 27],
  pos=[1233, 3],
  norm=[1233, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7398],
  edge_attr=[7398, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1246, 27],
  pos=[1246, 3],
  norm=[1246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7476],
  edge_attr=[7476, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1215, 27],
  pos=[1215, 3],
  norm=[1215, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7290],
  edge_attr=[7290, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1368, 27],
  pos=[1368, 3],
  norm=[1368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8208],
  edge_attr=[8208, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1354, 27],
  pos=[1354, 3],
  norm=[1354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8124],
  edge_attr=[8124, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1393, 27],
  pos=[1393, 3],
  norm=[1393, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8358],
  edge_attr=[8358, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1322, 27],
  pos=[1322, 3],
  norm=[1322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7932],
  edge_attr=[7932, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1489, 27],
  pos=[1489, 3],
  norm=[1489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8934],
  edge_attr=[8934, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1474, 27],
  pos=[1474, 3],
  norm=[1474, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8844],
  edge_attr=[8844, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1475, 27],
  pos=[1475, 3],
  norm=[1475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8850],
  edge_attr=[8850, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1537, 27],
  pos=[1537, 3],
  norm=[1537, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9222],
  edge_attr=[9222, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1424, 27],
  pos=[1424, 3],
  norm=[1424, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8544],
  edge_attr=[8544, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1622, 27],
  pos=[1622, 3],
  norm=[1622, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9732],
  edge_attr=[9732, 3]
)

---Updating memory of learning_module_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1610, 27],
  pos=[1610, 3],
  norm=[1610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9660],
  edge_attr=[9660, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1602, 27],
  pos=[1602, 3],
  norm=[1602, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9612],
  edge_attr=[9612, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1550, 27],
  pos=[1550, 3],
  norm=[1550, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9300],
  edge_attr=[9300, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'power_drill',
 '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: power_drill
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill 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_1---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1728, 27],
  pos=[1728, 3],
  norm=[1728, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10368],
  edge_attr=[10368, 3]
)

---Updating memory of learning_module_2---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1747, 27],
  pos=[1747, 3],
  norm=[1747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10482],
  edge_attr=[10482, 3]
)

---Updating memory of learning_module_3---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1799, 27],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10794],
  edge_attr=[10794, 3]
)

---Updating memory of learning_module_4---
power_drill already in memory (['power_drill'])
Updating existing graph for power_drill
building graph
Extended graph power_drill with new points. New model:
Data(
  x=[1669, 27],
  pos=[1669, 3],
  norm=[1669, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10014],
  edge_attr=[10014, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'power_drill',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_power_drill/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock not in memory ([])
Adding a new graph to memory.
init object model with id padlock
built graph Data(
  x=[57, 27],
  pos=[57, 3],
  norm=[57, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 342],
  edge_attr=[342, 3]
)
Added new graph with id padlock to memory.

---Updating memory of learning_module_1---
padlock not in memory ([])
Adding a new graph to memory.
init object model with id padlock
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 padlock to memory.

---Updating memory of learning_module_2---
padlock not in memory ([])
Adding a new graph to memory.
init object model with id padlock
built graph 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]
)
Added new graph with id padlock to memory.

---Updating memory of learning_module_3---
padlock not in memory ([])
Adding a new graph to memory.
init object model with id padlock
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 padlock to memory.

---Updating memory of learning_module_4---
padlock not in memory ([])
Adding a new graph to memory.
init object model with id padlock
built graph Data(
  x=[64, 27],
  pos=[64, 3],
  norm=[64, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 384],
  edge_attr=[384, 3]
)
Added new graph with id padlock to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[126, 27],
  pos=[126, 3],
  norm=[126, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 756],
  edge_attr=[756, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[129, 27],
  pos=[129, 3],
  norm=[129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 774],
  edge_attr=[774, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[120, 27],
  pos=[120, 3],
  norm=[120, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 720],
  edge_attr=[720, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[120, 27],
  pos=[120, 3],
  norm=[120, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 720],
  edge_attr=[720, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[134, 27],
  pos=[134, 3],
  norm=[134, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 804],
  edge_attr=[804, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[233, 27],
  pos=[233, 3],
  norm=[233, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1398],
  edge_attr=[1398, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[222, 27],
  pos=[222, 3],
  norm=[222, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1332],
  edge_attr=[1332, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[222, 27],
  pos=[222, 3],
  norm=[222, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1332],
  edge_attr=[1332, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[299, 27],
  pos=[299, 3],
  norm=[299, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1794],
  edge_attr=[1794, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[290, 27],
  pos=[290, 3],
  norm=[290, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1740],
  edge_attr=[1740, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[490, 27],
  pos=[490, 3],
  norm=[490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2940],
  edge_attr=[2940, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[453, 27],
  pos=[453, 3],
  norm=[453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2718],
  edge_attr=[2718, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[493, 27],
  pos=[493, 3],
  norm=[493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2958],
  edge_attr=[2958, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[702, 27],
  pos=[702, 3],
  norm=[702, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4212],
  edge_attr=[4212, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[617, 27],
  pos=[617, 3],
  norm=[617, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3702],
  edge_attr=[3702, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[659, 27],
  pos=[659, 3],
  norm=[659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3954],
  edge_attr=[3954, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[678, 27],
  pos=[678, 3],
  norm=[678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4068],
  edge_attr=[4068, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[745, 27],
  pos=[745, 3],
  norm=[745, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4470],
  edge_attr=[4470, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[651, 27],
  pos=[651, 3],
  norm=[651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3906],
  edge_attr=[3906, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[700, 27],
  pos=[700, 3],
  norm=[700, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4200],
  edge_attr=[4200, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[722, 27],
  pos=[722, 3],
  norm=[722, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4332],
  edge_attr=[4332, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[783, 27],
  pos=[783, 3],
  norm=[783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4698],
  edge_attr=[4698, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[778, 27],
  pos=[778, 3],
  norm=[778, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4668],
  edge_attr=[4668, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[738, 27],
  pos=[738, 3],
  norm=[738, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4428],
  edge_attr=[4428, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[846, 27],
  pos=[846, 3],
  norm=[846, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5076],
  edge_attr=[5076, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[854, 27],
  pos=[854, 3],
  norm=[854, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5124],
  edge_attr=[5124, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[812, 27],
  pos=[812, 3],
  norm=[812, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4872],
  edge_attr=[4872, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[917, 27],
  pos=[917, 3],
  norm=[917, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5502],
  edge_attr=[5502, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[910, 27],
  pos=[910, 3],
  norm=[910, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5460],
  edge_attr=[5460, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[990, 27],
  pos=[990, 3],
  norm=[990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5940],
  edge_attr=[5940, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[949, 27],
  pos=[949, 3],
  norm=[949, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5694],
  edge_attr=[5694, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[979, 27],
  pos=[979, 3],
  norm=[979, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5874],
  edge_attr=[5874, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1040, 27],
  pos=[1040, 3],
  norm=[1040, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6240],
  edge_attr=[6240, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[959, 27],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5754],
  edge_attr=[5754, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1012, 27],
  pos=[1012, 3],
  norm=[1012, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6072],
  edge_attr=[6072, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1104, 27],
  pos=[1104, 3],
  norm=[1104, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6624],
  edge_attr=[6624, 3]
)

---Updating memory of learning_module_2---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1022, 27],
  pos=[1022, 3],
  norm=[1022, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6132],
  edge_attr=[6132, 3]
)

---Updating memory of learning_module_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1091, 27],
  pos=[1091, 3],
  norm=[1091, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6546],
  edge_attr=[6546, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'padlock',
 '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: padlock
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1177, 27],
  pos=[1177, 3],
  norm=[1177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7062],
  edge_attr=[7062, 3]
)

---Updating memory of learning_module_1---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock 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_3---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1157, 27],
  pos=[1157, 3],
  norm=[1157, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6942],
  edge_attr=[6942, 3]
)

---Updating memory of learning_module_4---
padlock already in memory (['padlock'])
Updating existing graph for padlock
building graph
Extended graph padlock with new points. New model:
Data(
  x=[1170, 27],
  pos=[1170, 3],
  norm=[1170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7020],
  edge_attr=[7020, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'padlock',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_padlock/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_golf_ball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer not in memory ([])
Adding a new graph to memory.
init object model with id hammer
built graph Data(
  x=[39, 27],
  pos=[39, 3],
  norm=[39, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 234],
  edge_attr=[234, 3]
)
Added new graph with id hammer to memory.

---Updating memory of learning_module_1---
hammer not in memory ([])
Adding a new graph to memory.
init object model with id hammer
built graph Data(
  x=[46, 27],
  pos=[46, 3],
  norm=[46, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 276],
  edge_attr=[276, 3]
)
Added new graph with id hammer to memory.

---Updating memory of learning_module_2---
hammer not in memory ([])
Adding a new graph to memory.
init object model with id hammer
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 hammer to memory.

---Updating memory of learning_module_3---
hammer not in memory ([])
Adding a new graph to memory.
init object model with id hammer
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 hammer to memory.

---Updating memory of learning_module_4---
hammer not in memory ([])
Adding a new graph to memory.
init object model with id hammer
built graph Data(
  x=[34, 27],
  pos=[34, 3],
  norm=[34, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 204],
  edge_attr=[204, 3]
)
Added new graph with id hammer to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[119, 27],
  pos=[119, 3],
  norm=[119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 714],
  edge_attr=[714, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[128, 27],
  pos=[128, 3],
  norm=[128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 768],
  edge_attr=[768, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[133, 27],
  pos=[133, 3],
  norm=[133, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 798],
  edge_attr=[798, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[123, 27],
  pos=[123, 3],
  norm=[123, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 738],
  edge_attr=[738, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[117, 27],
  pos=[117, 3],
  norm=[117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 702],
  edge_attr=[702, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[222, 27],
  pos=[222, 3],
  norm=[222, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1332],
  edge_attr=[1332, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[230, 27],
  pos=[230, 3],
  norm=[230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1380],
  edge_attr=[1380, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[297, 27],
  pos=[297, 3],
  norm=[297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1782],
  edge_attr=[1782, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[298, 27],
  pos=[298, 3],
  norm=[298, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1788],
  edge_attr=[1788, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[434, 27],
  pos=[434, 3],
  norm=[434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2604],
  edge_attr=[2604, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[436, 27],
  pos=[436, 3],
  norm=[436, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2616],
  edge_attr=[2616, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[401, 27],
  pos=[401, 3],
  norm=[401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2406],
  edge_attr=[2406, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[587, 27],
  pos=[587, 3],
  norm=[587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3522],
  edge_attr=[3522, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[641, 27],
  pos=[641, 3],
  norm=[641, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3846],
  edge_attr=[3846, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[675, 27],
  pos=[675, 3],
  norm=[675, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4050],
  edge_attr=[4050, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[750, 27],
  pos=[750, 3],
  norm=[750, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4500],
  edge_attr=[4500, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[711, 27],
  pos=[711, 3],
  norm=[711, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4266],
  edge_attr=[4266, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[744, 27],
  pos=[744, 3],
  norm=[744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4464],
  edge_attr=[4464, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[694, 27],
  pos=[694, 3],
  norm=[694, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4164],
  edge_attr=[4164, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[809, 27],
  pos=[809, 3],
  norm=[809, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4854],
  edge_attr=[4854, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[824, 27],
  pos=[824, 3],
  norm=[824, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4944],
  edge_attr=[4944, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[776, 27],
  pos=[776, 3],
  norm=[776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4656],
  edge_attr=[4656, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[904, 27],
  pos=[904, 3],
  norm=[904, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5424],
  edge_attr=[5424, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[874, 27],
  pos=[874, 3],
  norm=[874, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5244],
  edge_attr=[5244, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[900, 27],
  pos=[900, 3],
  norm=[900, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5400],
  edge_attr=[5400, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[941, 27],
  pos=[941, 3],
  norm=[941, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5646],
  edge_attr=[5646, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[972, 27],
  pos=[972, 3],
  norm=[972, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5832],
  edge_attr=[5832, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[921, 27],
  pos=[921, 3],
  norm=[921, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5526],
  edge_attr=[5526, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[948, 27],
  pos=[948, 3],
  norm=[948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5688],
  edge_attr=[5688, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[908, 27],
  pos=[908, 3],
  norm=[908, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5448],
  edge_attr=[5448, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[981, 27],
  pos=[981, 3],
  norm=[981, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5886],
  edge_attr=[5886, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1003, 27],
  pos=[1003, 3],
  norm=[1003, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6018],
  edge_attr=[6018, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[974, 27],
  pos=[974, 3],
  norm=[974, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5844],
  edge_attr=[5844, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1071, 27],
  pos=[1071, 3],
  norm=[1071, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6426],
  edge_attr=[6426, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1088, 27],
  pos=[1088, 3],
  norm=[1088, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6528],
  edge_attr=[6528, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1065, 27],
  pos=[1065, 3],
  norm=[1065, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6390],
  edge_attr=[6390, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1080, 27],
  pos=[1080, 3],
  norm=[1080, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6480],
  edge_attr=[6480, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1021, 27],
  pos=[1021, 3],
  norm=[1021, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6126],
  edge_attr=[6126, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'hammer',
 '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: hammer
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1160, 27],
  pos=[1160, 3],
  norm=[1160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6960],
  edge_attr=[6960, 3]
)

---Updating memory of learning_module_1---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1172, 27],
  pos=[1172, 3],
  norm=[1172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7032],
  edge_attr=[7032, 3]
)

---Updating memory of learning_module_2---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1151, 27],
  pos=[1151, 3],
  norm=[1151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6906],
  edge_attr=[6906, 3]
)

---Updating memory of learning_module_3---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1174, 27],
  pos=[1174, 3],
  norm=[1174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7044],
  edge_attr=[7044, 3]
)

---Updating memory of learning_module_4---
hammer already in memory (['hammer'])
Updating existing graph for hammer
building graph
Extended graph hammer with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'hammer',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_hammer/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball not in memory ([])
Adding a new graph to memory.
init object model with id softball
built graph Data(
  x=[242, 27],
  pos=[242, 3],
  norm=[242, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1452],
  edge_attr=[1452, 3]
)
Added new graph with id softball to memory.

---Updating memory of learning_module_1---
softball not in memory ([])
Adding a new graph to memory.
init object model with id softball
built graph Data(
  x=[225, 27],
  pos=[225, 3],
  norm=[225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1350],
  edge_attr=[1350, 3]
)
Added new graph with id softball to memory.

---Updating memory of learning_module_2---
softball not in memory ([])
Adding a new graph to memory.
init object model with id softball
built graph 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]
)
Added new graph with id softball to memory.

---Updating memory of learning_module_3---
softball not in memory ([])
Adding a new graph to memory.
init object model with id softball
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 softball to memory.

---Updating memory of learning_module_4---
softball not in memory ([])
Adding a new graph to memory.
init object model with id softball
built graph 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]
)
Added new graph with id softball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[454, 27],
  pos=[454, 3],
  norm=[454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2724],
  edge_attr=[2724, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[457, 27],
  pos=[457, 3],
  norm=[457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2742],
  edge_attr=[2742, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[732, 27],
  pos=[732, 3],
  norm=[732, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4392],
  edge_attr=[4392, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[708, 27],
  pos=[708, 3],
  norm=[708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4248],
  edge_attr=[4248, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[899, 27],
  pos=[899, 3],
  norm=[899, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5394],
  edge_attr=[5394, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[913, 27],
  pos=[913, 3],
  norm=[913, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5478],
  edge_attr=[5478, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[915, 27],
  pos=[915, 3],
  norm=[915, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5490],
  edge_attr=[5490, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1217, 27],
  pos=[1217, 3],
  norm=[1217, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7302],
  edge_attr=[7302, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1182, 27],
  pos=[1182, 3],
  norm=[1182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7092],
  edge_attr=[7092, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1462, 27],
  pos=[1462, 3],
  norm=[1462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8772],
  edge_attr=[8772, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1350, 27],
  pos=[1350, 3],
  norm=[1350, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8100],
  edge_attr=[8100, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1370, 27],
  pos=[1370, 3],
  norm=[1370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8220],
  edge_attr=[8220, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1369, 27],
  pos=[1369, 3],
  norm=[1369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8214],
  edge_attr=[8214, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1686, 27],
  pos=[1686, 3],
  norm=[1686, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10116],
  edge_attr=[10116, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1558, 27],
  pos=[1558, 3],
  norm=[1558, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9348],
  edge_attr=[9348, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1643, 27],
  pos=[1643, 3],
  norm=[1643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9858],
  edge_attr=[9858, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1586, 27],
  pos=[1586, 3],
  norm=[1586, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9516],
  edge_attr=[9516, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1584, 27],
  pos=[1584, 3],
  norm=[1584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9504],
  edge_attr=[9504, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1765, 27],
  pos=[1765, 3],
  norm=[1765, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10590],
  edge_attr=[10590, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1850, 27],
  pos=[1850, 3],
  norm=[1850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11100],
  edge_attr=[11100, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1795, 27],
  pos=[1795, 3],
  norm=[1795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10770],
  edge_attr=[10770, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1976, 27],
  pos=[1976, 3],
  norm=[1976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11856],
  edge_attr=[11856, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2075, 27],
  pos=[2075, 3],
  norm=[2075, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12450],
  edge_attr=[12450, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2010, 27],
  pos=[2010, 3],
  norm=[2010, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12060],
  edge_attr=[12060, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[1998, 27],
  pos=[1998, 3],
  norm=[1998, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11988],
  edge_attr=[11988, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2344, 27],
  pos=[2344, 3],
  norm=[2344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14064],
  edge_attr=[14064, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2187, 27],
  pos=[2187, 3],
  norm=[2187, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13122],
  edge_attr=[13122, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball 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_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2207, 27],
  pos=[2207, 3],
  norm=[2207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13242],
  edge_attr=[13242, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2207, 27],
  pos=[2207, 3],
  norm=[2207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13242],
  edge_attr=[13242, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2570, 27],
  pos=[2570, 3],
  norm=[2570, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15420],
  edge_attr=[15420, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2402, 27],
  pos=[2402, 3],
  norm=[2402, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14412],
  edge_attr=[14412, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2500, 27],
  pos=[2500, 3],
  norm=[2500, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15000],
  edge_attr=[15000, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2430, 27],
  pos=[2430, 3],
  norm=[2430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14580],
  edge_attr=[14580, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2431, 27],
  pos=[2431, 3],
  norm=[2431, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14586],
  edge_attr=[14586, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2790, 27],
  pos=[2790, 3],
  norm=[2790, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16740],
  edge_attr=[16740, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2600, 27],
  pos=[2600, 3],
  norm=[2600, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15600],
  edge_attr=[15600, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2717, 27],
  pos=[2717, 3],
  norm=[2717, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16302],
  edge_attr=[16302, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2633, 27],
  pos=[2633, 3],
  norm=[2633, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15798],
  edge_attr=[15798, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2646, 27],
  pos=[2646, 3],
  norm=[2646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15876],
  edge_attr=[15876, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3015, 27],
  pos=[3015, 3],
  norm=[3015, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18090],
  edge_attr=[18090, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2818, 27],
  pos=[2818, 3],
  norm=[2818, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16908],
  edge_attr=[16908, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2936, 27],
  pos=[2936, 3],
  norm=[2936, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 17616],
  edge_attr=[17616, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2857, 27],
  pos=[2857, 3],
  norm=[2857, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 17142],
  edge_attr=[17142, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[2868, 27],
  pos=[2868, 3],
  norm=[2868, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 17208],
  edge_attr=[17208, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'softball',
 '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: softball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3232, 27],
  pos=[3232, 3],
  norm=[3232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 19392],
  edge_attr=[19392, 3]
)

---Updating memory of learning_module_1---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3016, 27],
  pos=[3016, 3],
  norm=[3016, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18096],
  edge_attr=[18096, 3]
)

---Updating memory of learning_module_2---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3154, 27],
  pos=[3154, 3],
  norm=[3154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18924],
  edge_attr=[18924, 3]
)

---Updating memory of learning_module_3---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3067, 27],
  pos=[3067, 3],
  norm=[3067, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18402],
  edge_attr=[18402, 3]
)

---Updating memory of learning_module_4---
softball already in memory (['softball'])
Updating existing graph for softball
building graph
Extended graph softball with new points. New model:
Data(
  x=[3068, 27],
  pos=[3068, 3],
  norm=[3068, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18408],
  edge_attr=[18408, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'softball',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_softball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange not in memory ([])
Adding a new graph to memory.
init object model with id orange
built graph 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]
)
Added new graph with id orange to memory.

---Updating memory of learning_module_1---
orange not in memory ([])
Adding a new graph to memory.
init object model with id orange
built graph Data(
  x=[170, 27],
  pos=[170, 3],
  norm=[170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1020],
  edge_attr=[1020, 3]
)
Added new graph with id orange to memory.

---Updating memory of learning_module_2---
orange not in memory ([])
Adding a new graph to memory.
init object model with id orange
built graph 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]
)
Added new graph with id orange to memory.

---Updating memory of learning_module_3---
orange not in memory ([])
Adding a new graph to memory.
init object model with id orange
built graph Data(
  x=[181, 27],
  pos=[181, 3],
  norm=[181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1086],
  edge_attr=[1086, 3]
)
Added new graph with id orange to memory.

---Updating memory of learning_module_4---
orange not in memory ([])
Adding a new graph to memory.
init object model with id orange
built graph 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]
)
Added new graph with id orange to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[365, 27],
  pos=[365, 3],
  norm=[365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2190],
  edge_attr=[2190, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[361, 27],
  pos=[361, 3],
  norm=[361, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2166],
  edge_attr=[2166, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[363, 27],
  pos=[363, 3],
  norm=[363, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2178],
  edge_attr=[2178, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[549, 27],
  pos=[549, 3],
  norm=[549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3294],
  edge_attr=[3294, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[543, 27],
  pos=[543, 3],
  norm=[543, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3258],
  edge_attr=[3258, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[713, 27],
  pos=[713, 3],
  norm=[713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4278],
  edge_attr=[4278, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[720, 27],
  pos=[720, 3],
  norm=[720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4320],
  edge_attr=[4320, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[722, 27],
  pos=[722, 3],
  norm=[722, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4332],
  edge_attr=[4332, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[877, 27],
  pos=[877, 3],
  norm=[877, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5262],
  edge_attr=[5262, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[892, 27],
  pos=[892, 3],
  norm=[892, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5352],
  edge_attr=[5352, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1072, 27],
  pos=[1072, 3],
  norm=[1072, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6432],
  edge_attr=[6432, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1080, 27],
  pos=[1080, 3],
  norm=[1080, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6480],
  edge_attr=[6480, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1086, 27],
  pos=[1086, 3],
  norm=[1086, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6516],
  edge_attr=[6516, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1248, 27],
  pos=[1248, 3],
  norm=[1248, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7488],
  edge_attr=[7488, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1172, 27],
  pos=[1172, 3],
  norm=[1172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7032],
  edge_attr=[7032, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1224, 27],
  pos=[1224, 3],
  norm=[1224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7344],
  edge_attr=[7344, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1240, 27],
  pos=[1240, 3],
  norm=[1240, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7440],
  edge_attr=[7440, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1393, 27],
  pos=[1393, 3],
  norm=[1393, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8358],
  edge_attr=[8358, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1320, 27],
  pos=[1320, 3],
  norm=[1320, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7920],
  edge_attr=[7920, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1403, 27],
  pos=[1403, 3],
  norm=[1403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8418],
  edge_attr=[8418, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1392, 27],
  pos=[1392, 3],
  norm=[1392, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8352],
  edge_attr=[8352, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1549, 27],
  pos=[1549, 3],
  norm=[1549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9294],
  edge_attr=[9294, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1463, 27],
  pos=[1463, 3],
  norm=[1463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8778],
  edge_attr=[8778, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1552, 27],
  pos=[1552, 3],
  norm=[1552, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9312],
  edge_attr=[9312, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1550, 27],
  pos=[1550, 3],
  norm=[1550, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9300],
  edge_attr=[9300, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1693, 27],
  pos=[1693, 3],
  norm=[1693, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10158],
  edge_attr=[10158, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1613, 27],
  pos=[1613, 3],
  norm=[1613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9678],
  edge_attr=[9678, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1653, 27],
  pos=[1653, 3],
  norm=[1653, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9918],
  edge_attr=[9918, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1700, 27],
  pos=[1700, 3],
  norm=[1700, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10200],
  edge_attr=[10200, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1714, 27],
  pos=[1714, 3],
  norm=[1714, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10284],
  edge_attr=[10284, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1856, 27],
  pos=[1856, 3],
  norm=[1856, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11136],
  edge_attr=[11136, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1775, 27],
  pos=[1775, 3],
  norm=[1775, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10650],
  edge_attr=[10650, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1799, 27],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10794],
  edge_attr=[10794, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1861, 27],
  pos=[1861, 3],
  norm=[1861, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11166],
  edge_attr=[11166, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1885, 27],
  pos=[1885, 3],
  norm=[1885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11310],
  edge_attr=[11310, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1993, 27],
  pos=[1993, 3],
  norm=[1993, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11958],
  edge_attr=[11958, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1896, 27],
  pos=[1896, 3],
  norm=[1896, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11376],
  edge_attr=[11376, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[1947, 27],
  pos=[1947, 3],
  norm=[1947, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11682],
  edge_attr=[11682, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2006, 27],
  pos=[2006, 3],
  norm=[2006, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12036],
  edge_attr=[12036, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2157, 27],
  pos=[2157, 3],
  norm=[2157, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12942],
  edge_attr=[12942, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange 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_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2180, 27],
  pos=[2180, 3],
  norm=[2180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13080],
  edge_attr=[13080, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2196, 27],
  pos=[2196, 3],
  norm=[2196, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13176],
  edge_attr=[13176, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'orange',
 '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: orange
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2298, 27],
  pos=[2298, 3],
  norm=[2298, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13788],
  edge_attr=[13788, 3]
)

---Updating memory of learning_module_1---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2180, 27],
  pos=[2180, 3],
  norm=[2180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13080],
  edge_attr=[13080, 3]
)

---Updating memory of learning_module_2---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2235, 27],
  pos=[2235, 3],
  norm=[2235, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13410],
  edge_attr=[13410, 3]
)

---Updating memory of learning_module_3---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2326, 27],
  pos=[2326, 3],
  norm=[2326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13956],
  edge_attr=[13956, 3]
)

---Updating memory of learning_module_4---
orange already in memory (['orange'])
Updating existing graph for orange
building graph
Extended graph orange with new points. New model:
Data(
  x=[2332, 27],
  pos=[2332, 3],
  norm=[2332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13992],
  edge_attr=[13992, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'orange',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_orange/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_c_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id c_toy_airplane
built graph Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)
Added new graph with id c_toy_airplane to memory.

---Updating memory of learning_module_1---
c_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id c_toy_airplane
built graph Data(
  x=[117, 27],
  pos=[117, 3],
  norm=[117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 702],
  edge_attr=[702, 3]
)
Added new graph with id c_toy_airplane to memory.

---Updating memory of learning_module_2---
c_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id c_toy_airplane
built graph Data(
  x=[129, 27],
  pos=[129, 3],
  norm=[129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 774],
  edge_attr=[774, 3]
)
Added new graph with id c_toy_airplane to memory.

---Updating memory of learning_module_3---
c_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id c_toy_airplane
built graph Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)
Added new graph with id c_toy_airplane to memory.

---Updating memory of learning_module_4---
c_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id c_toy_airplane
built graph Data(
  x=[129, 27],
  pos=[129, 3],
  norm=[129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 774],
  edge_attr=[774, 3]
)
Added new graph with id c_toy_airplane to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[249, 27],
  pos=[249, 3],
  norm=[249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1494],
  edge_attr=[1494, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[249, 27],
  pos=[249, 3],
  norm=[249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1494],
  edge_attr=[1494, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[355, 27],
  pos=[355, 3],
  norm=[355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2130],
  edge_attr=[2130, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[371, 27],
  pos=[371, 3],
  norm=[371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2226],
  edge_attr=[2226, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[365, 27],
  pos=[365, 3],
  norm=[365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2190],
  edge_attr=[2190, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[474, 27],
  pos=[474, 3],
  norm=[474, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2844],
  edge_attr=[2844, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[467, 27],
  pos=[467, 3],
  norm=[467, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2802],
  edge_attr=[2802, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[488, 27],
  pos=[488, 3],
  norm=[488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2928],
  edge_attr=[2928, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[482, 27],
  pos=[482, 3],
  norm=[482, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2892],
  edge_attr=[2892, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[559, 27],
  pos=[559, 3],
  norm=[559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3354],
  edge_attr=[3354, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[547, 27],
  pos=[547, 3],
  norm=[547, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3282],
  edge_attr=[3282, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[578, 27],
  pos=[578, 3],
  norm=[578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3468],
  edge_attr=[3468, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[590, 27],
  pos=[590, 3],
  norm=[590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3540],
  edge_attr=[3540, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[646, 27],
  pos=[646, 3],
  norm=[646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3876],
  edge_attr=[3876, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[686, 27],
  pos=[686, 3],
  norm=[686, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4116],
  edge_attr=[4116, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[724, 27],
  pos=[724, 3],
  norm=[724, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4344],
  edge_attr=[4344, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[651, 27],
  pos=[651, 3],
  norm=[651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3906],
  edge_attr=[3906, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[716, 27],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4296],
  edge_attr=[4296, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[746, 27],
  pos=[746, 3],
  norm=[746, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4476],
  edge_attr=[4476, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[744, 27],
  pos=[744, 3],
  norm=[744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4464],
  edge_attr=[4464, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[791, 27],
  pos=[791, 3],
  norm=[791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4746],
  edge_attr=[4746, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[707, 27],
  pos=[707, 3],
  norm=[707, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4242],
  edge_attr=[4242, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[775, 27],
  pos=[775, 3],
  norm=[775, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4650],
  edge_attr=[4650, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[809, 27],
  pos=[809, 3],
  norm=[809, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4854],
  edge_attr=[4854, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[800, 27],
  pos=[800, 3],
  norm=[800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4800],
  edge_attr=[4800, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[858, 27],
  pos=[858, 3],
  norm=[858, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5148],
  edge_attr=[5148, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[837, 27],
  pos=[837, 3],
  norm=[837, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5022],
  edge_attr=[5022, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[923, 27],
  pos=[923, 3],
  norm=[923, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5538],
  edge_attr=[5538, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[893, 27],
  pos=[893, 3],
  norm=[893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5358],
  edge_attr=[5358, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[921, 27],
  pos=[921, 3],
  norm=[921, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5526],
  edge_attr=[5526, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[890, 27],
  pos=[890, 3],
  norm=[890, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5340],
  edge_attr=[5340, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[940, 27],
  pos=[940, 3],
  norm=[940, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5640],
  edge_attr=[5640, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1009, 27],
  pos=[1009, 3],
  norm=[1009, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6054],
  edge_attr=[6054, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1050, 27],
  pos=[1050, 3],
  norm=[1050, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6300],
  edge_attr=[6300, 3]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1119, 27],
  pos=[1119, 3],
  norm=[1119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6714],
  edge_attr=[6714, 3]
)

---Updating memory of learning_module_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[997, 27],
  pos=[997, 3],
  norm=[997, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5982],
  edge_attr=[5982, 3]
)

---Updating memory of learning_module_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1067, 27],
  pos=[1067, 3],
  norm=[1067, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6402],
  edge_attr=[6402, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1099, 27],
  pos=[1099, 3],
  norm=[1099, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6594],
  edge_attr=[6594, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'c_toy_airplane',
 '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_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_1---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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_2---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1120, 27],
  pos=[1120, 3],
  norm=[1120, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6720],
  edge_attr=[6720, 3]
)

---Updating memory of learning_module_3---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane 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]
)

---Updating memory of learning_module_4---
c_toy_airplane already in memory (['c_toy_airplane'])
Updating existing graph for c_toy_airplane
building graph
Extended graph c_toy_airplane with new points. New model:
Data(
  x=[1143, 27],
  pos=[1143, 3],
  norm=[1143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6858],
  edge_attr=[6858, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_toy_airplane',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_c_toy_airplane/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id b_lego_duplo
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id b_lego_duplo to memory.

---Updating memory of learning_module_1---
b_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id b_lego_duplo
built graph 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]
)
Added new graph with id b_lego_duplo to memory.

---Updating memory of learning_module_2---
b_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id b_lego_duplo
built graph Data(
  x=[182, 27],
  pos=[182, 3],
  norm=[182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1092],
  edge_attr=[1092, 3]
)
Added new graph with id b_lego_duplo to memory.

---Updating memory of learning_module_3---
b_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id b_lego_duplo
built graph 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]
)
Added new graph with id b_lego_duplo to memory.

---Updating memory of learning_module_4---
b_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id b_lego_duplo
built graph Data(
  x=[160, 27],
  pos=[160, 3],
  norm=[160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 960],
  edge_attr=[960, 3]
)
Added new graph with id b_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[577, 27],
  pos=[577, 3],
  norm=[577, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3462],
  edge_attr=[3462, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[474, 27],
  pos=[474, 3],
  norm=[474, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2844],
  edge_attr=[2844, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[549, 27],
  pos=[549, 3],
  norm=[549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3294],
  edge_attr=[3294, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[482, 27],
  pos=[482, 3],
  norm=[482, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2892],
  edge_attr=[2892, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_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_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[731, 27],
  pos=[731, 3],
  norm=[731, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4386],
  edge_attr=[4386, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[642, 27],
  pos=[642, 3],
  norm=[642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3852],
  edge_attr=[3852, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[863, 27],
  pos=[863, 3],
  norm=[863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5178],
  edge_attr=[5178, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[824, 27],
  pos=[824, 3],
  norm=[824, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4944],
  edge_attr=[4944, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[746, 27],
  pos=[746, 3],
  norm=[746, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4476],
  edge_attr=[4476, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[988, 27],
  pos=[988, 3],
  norm=[988, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5928],
  edge_attr=[5928, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[840, 27],
  pos=[840, 3],
  norm=[840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5040],
  edge_attr=[5040, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[873, 27],
  pos=[873, 3],
  norm=[873, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5238],
  edge_attr=[5238, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_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_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_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]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1002, 27],
  pos=[1002, 3],
  norm=[1002, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6012],
  edge_attr=[6012, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[945, 27],
  pos=[945, 3],
  norm=[945, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5670],
  edge_attr=[5670, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1088, 27],
  pos=[1088, 3],
  norm=[1088, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6528],
  edge_attr=[6528, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[956, 27],
  pos=[956, 3],
  norm=[956, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5736],
  edge_attr=[5736, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1077, 27],
  pos=[1077, 3],
  norm=[1077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6462],
  edge_attr=[6462, 3]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1146, 27],
  pos=[1146, 3],
  norm=[1146, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6876],
  edge_attr=[6876, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_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---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1104, 27],
  pos=[1104, 3],
  norm=[1104, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6624],
  edge_attr=[6624, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1197, 27],
  pos=[1197, 3],
  norm=[1197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7182],
  edge_attr=[7182, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1067, 27],
  pos=[1067, 3],
  norm=[1067, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6402],
  edge_attr=[6402, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1151, 27],
  pos=[1151, 3],
  norm=[1151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6906],
  edge_attr=[6906, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1180, 27],
  pos=[1180, 3],
  norm=[1180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7080],
  edge_attr=[7080, 3]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1130, 27],
  pos=[1130, 3],
  norm=[1130, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6780],
  edge_attr=[6780, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1250, 27],
  pos=[1250, 3],
  norm=[1250, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7500],
  edge_attr=[7500, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1133, 27],
  pos=[1133, 3],
  norm=[1133, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6798],
  edge_attr=[6798, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1201, 27],
  pos=[1201, 3],
  norm=[1201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7206],
  edge_attr=[7206, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1200, 27],
  pos=[1200, 3],
  norm=[1200, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7200],
  edge_attr=[7200, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1303, 27],
  pos=[1303, 3],
  norm=[1303, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7818],
  edge_attr=[7818, 3]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1184, 27],
  pos=[1184, 3],
  norm=[1184, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7104],
  edge_attr=[7104, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1291, 27],
  pos=[1291, 3],
  norm=[1291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7746],
  edge_attr=[7746, 3]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1260, 27],
  pos=[1260, 3],
  norm=[1260, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7560],
  edge_attr=[7560, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)

---Updating memory of learning_module_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1304, 27],
  pos=[1304, 3],
  norm=[1304, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7824],
  edge_attr=[7824, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'b_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: b_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_1---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1288, 27],
  pos=[1288, 3],
  norm=[1288, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7728],
  edge_attr=[7728, 3]
)

---Updating memory of learning_module_2---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1353, 27],
  pos=[1353, 3],
  norm=[1353, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8118],
  edge_attr=[8118, 3]
)

---Updating memory of learning_module_3---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo 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_4---
b_lego_duplo already in memory (['b_lego_duplo'])
Updating existing graph for b_lego_duplo
building graph
Extended graph b_lego_duplo with new points. New model:
Data(
  x=[1383, 27],
  pos=[1383, 3],
  norm=[1383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8298],
  edge_attr=[8298, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_b_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_banana/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test not in memory ([])
Adding a new graph to memory.
init object model with id nine_hole_peg_test
built graph Data(
  x=[93, 27],
  pos=[93, 3],
  norm=[93, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 558],
  edge_attr=[558, 3]
)
Added new graph with id nine_hole_peg_test to memory.

---Updating memory of learning_module_1---
nine_hole_peg_test not in memory ([])
Adding a new graph to memory.
init object model with id nine_hole_peg_test
built graph Data(
  x=[90, 27],
  pos=[90, 3],
  norm=[90, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 540],
  edge_attr=[540, 3]
)
Added new graph with id nine_hole_peg_test to memory.

---Updating memory of learning_module_2---
nine_hole_peg_test not in memory ([])
Adding a new graph to memory.
init object model with id nine_hole_peg_test
built graph Data(
  x=[91, 27],
  pos=[91, 3],
  norm=[91, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 546],
  edge_attr=[546, 3]
)
Added new graph with id nine_hole_peg_test to memory.

---Updating memory of learning_module_3---
nine_hole_peg_test not in memory ([])
Adding a new graph to memory.
init object model with id nine_hole_peg_test
built graph Data(
  x=[99, 27],
  pos=[99, 3],
  norm=[99, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 594],
  edge_attr=[594, 3]
)
Added new graph with id nine_hole_peg_test to memory.

---Updating memory of learning_module_4---
nine_hole_peg_test not in memory ([])
Adding a new graph to memory.
init object model with id nine_hole_peg_test
built graph 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]
)
Added new graph with id nine_hole_peg_test to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[256, 27],
  pos=[256, 3],
  norm=[256, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1536],
  edge_attr=[1536, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[255, 27],
  pos=[255, 3],
  norm=[255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1530],
  edge_attr=[1530, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[254, 27],
  pos=[254, 3],
  norm=[254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1524],
  edge_attr=[1524, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[399, 27],
  pos=[399, 3],
  norm=[399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2394],
  edge_attr=[2394, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[437, 27],
  pos=[437, 3],
  norm=[437, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2622],
  edge_attr=[2622, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[564, 27],
  pos=[564, 3],
  norm=[564, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3384],
  edge_attr=[3384, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[584, 27],
  pos=[584, 3],
  norm=[584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3504],
  edge_attr=[3504, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[784, 27],
  pos=[784, 3],
  norm=[784, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4704],
  edge_attr=[4704, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[772, 27],
  pos=[772, 3],
  norm=[772, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4632],
  edge_attr=[4632, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[977, 27],
  pos=[977, 3],
  norm=[977, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5862],
  edge_attr=[5862, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[979, 27],
  pos=[979, 3],
  norm=[979, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5874],
  edge_attr=[5874, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1175, 27],
  pos=[1175, 3],
  norm=[1175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7050],
  edge_attr=[7050, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1154, 27],
  pos=[1154, 3],
  norm=[1154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6924],
  edge_attr=[6924, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1168, 27],
  pos=[1168, 3],
  norm=[1168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7008],
  edge_attr=[7008, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1362, 27],
  pos=[1362, 3],
  norm=[1362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8172],
  edge_attr=[8172, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1325, 27],
  pos=[1325, 3],
  norm=[1325, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7950],
  edge_attr=[7950, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1340, 27],
  pos=[1340, 3],
  norm=[1340, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8040],
  edge_attr=[8040, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1475, 27],
  pos=[1475, 3],
  norm=[1475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8850],
  edge_attr=[8850, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1466, 27],
  pos=[1466, 3],
  norm=[1466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8796],
  edge_attr=[8796, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1490, 27],
  pos=[1490, 3],
  norm=[1490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8940],
  edge_attr=[8940, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1652, 27],
  pos=[1652, 3],
  norm=[1652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9912],
  edge_attr=[9912, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1609, 27],
  pos=[1609, 3],
  norm=[1609, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9654],
  edge_attr=[9654, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1631, 27],
  pos=[1631, 3],
  norm=[1631, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9786],
  edge_attr=[9786, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1627, 27],
  pos=[1627, 3],
  norm=[1627, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9762],
  edge_attr=[9762, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1813, 27],
  pos=[1813, 3],
  norm=[1813, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10878],
  edge_attr=[10878, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1766, 27],
  pos=[1766, 3],
  norm=[1766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10596],
  edge_attr=[10596, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1771, 27],
  pos=[1771, 3],
  norm=[1771, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10626],
  edge_attr=[10626, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1788, 27],
  pos=[1788, 3],
  norm=[1788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10728],
  edge_attr=[10728, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1976, 27],
  pos=[1976, 3],
  norm=[1976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11856],
  edge_attr=[11856, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1917, 27],
  pos=[1917, 3],
  norm=[1917, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11502],
  edge_attr=[11502, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1931, 27],
  pos=[1931, 3],
  norm=[1931, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11586],
  edge_attr=[11586, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1943, 27],
  pos=[1943, 3],
  norm=[1943, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11658],
  edge_attr=[11658, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[1934, 27],
  pos=[1934, 3],
  norm=[1934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11604],
  edge_attr=[11604, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2162, 27],
  pos=[2162, 3],
  norm=[2162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12972],
  edge_attr=[12972, 3]
)

---Updating memory of learning_module_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2108, 27],
  pos=[2108, 3],
  norm=[2108, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12648],
  edge_attr=[12648, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2098, 27],
  pos=[2098, 3],
  norm=[2098, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12588],
  edge_attr=[12588, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2135, 27],
  pos=[2135, 3],
  norm=[2135, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12810],
  edge_attr=[12810, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2107, 27],
  pos=[2107, 3],
  norm=[2107, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12642],
  edge_attr=[12642, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'nine_hole_peg_test',
 '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: nine_hole_peg_test
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test 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_1---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2262, 27],
  pos=[2262, 3],
  norm=[2262, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13572],
  edge_attr=[13572, 3]
)

---Updating memory of learning_module_2---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2272, 27],
  pos=[2272, 3],
  norm=[2272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13632],
  edge_attr=[13632, 3]
)

---Updating memory of learning_module_3---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2302, 27],
  pos=[2302, 3],
  norm=[2302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13812],
  edge_attr=[13812, 3]
)

---Updating memory of learning_module_4---
nine_hole_peg_test already in memory (['nine_hole_peg_test'])
Updating existing graph for nine_hole_peg_test
building graph
Extended graph nine_hole_peg_test with new points. New model:
Data(
  x=[2265, 27],
  pos=[2265, 3],
  norm=[2265, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13590],
  edge_attr=[13590, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'nine_hole_peg_test',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_nine_hole_peg_test/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can not in memory ([])
Adding a new graph to memory.
init object model with id tomato_soup_can
built graph 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]
)
Added new graph with id tomato_soup_can to memory.

---Updating memory of learning_module_1---
tomato_soup_can not in memory ([])
Adding a new graph to memory.
init object model with id tomato_soup_can
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id tomato_soup_can to memory.

---Updating memory of learning_module_2---
tomato_soup_can not in memory ([])
Adding a new graph to memory.
init object model with id tomato_soup_can
built graph 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]
)
Added new graph with id tomato_soup_can to memory.

---Updating memory of learning_module_3---
tomato_soup_can not in memory ([])
Adding a new graph to memory.
init object model with id tomato_soup_can
built graph 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]
)
Added new graph with id tomato_soup_can to memory.

---Updating memory of learning_module_4---
tomato_soup_can not in memory ([])
Adding a new graph to memory.
init object model with id tomato_soup_can
built graph Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)
Added new graph with id tomato_soup_can to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[397, 27],
  pos=[397, 3],
  norm=[397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2382],
  edge_attr=[2382, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[595, 27],
  pos=[595, 3],
  norm=[595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3570],
  edge_attr=[3570, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[784, 27],
  pos=[784, 3],
  norm=[784, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4704],
  edge_attr=[4704, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[793, 27],
  pos=[793, 3],
  norm=[793, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4758],
  edge_attr=[4758, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[988, 27],
  pos=[988, 3],
  norm=[988, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5928],
  edge_attr=[5928, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[993, 27],
  pos=[993, 3],
  norm=[993, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5958],
  edge_attr=[5958, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1193, 27],
  pos=[1193, 3],
  norm=[1193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7158],
  edge_attr=[7158, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1152, 27],
  pos=[1152, 3],
  norm=[1152, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6912],
  edge_attr=[6912, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1174, 27],
  pos=[1174, 3],
  norm=[1174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7044],
  edge_attr=[7044, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1177, 27],
  pos=[1177, 3],
  norm=[1177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7062],
  edge_attr=[7062, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1177, 27],
  pos=[1177, 3],
  norm=[1177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7062],
  edge_attr=[7062, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1341, 27],
  pos=[1341, 3],
  norm=[1341, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8046],
  edge_attr=[8046, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1286, 27],
  pos=[1286, 3],
  norm=[1286, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7716],
  edge_attr=[7716, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1318, 27],
  pos=[1318, 3],
  norm=[1318, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7908],
  edge_attr=[7908, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1325, 27],
  pos=[1325, 3],
  norm=[1325, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7950],
  edge_attr=[7950, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1322, 27],
  pos=[1322, 3],
  norm=[1322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7932],
  edge_attr=[7932, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1498, 27],
  pos=[1498, 3],
  norm=[1498, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8988],
  edge_attr=[8988, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1428, 27],
  pos=[1428, 3],
  norm=[1428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8568],
  edge_attr=[8568, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1483, 27],
  pos=[1483, 3],
  norm=[1483, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8898],
  edge_attr=[8898, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1497, 27],
  pos=[1497, 3],
  norm=[1497, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8982],
  edge_attr=[8982, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1461, 27],
  pos=[1461, 3],
  norm=[1461, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8766],
  edge_attr=[8766, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1642, 27],
  pos=[1642, 3],
  norm=[1642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9852],
  edge_attr=[9852, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1570, 27],
  pos=[1570, 3],
  norm=[1570, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9420],
  edge_attr=[9420, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1628, 27],
  pos=[1628, 3],
  norm=[1628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9768],
  edge_attr=[9768, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1643, 27],
  pos=[1643, 3],
  norm=[1643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9858],
  edge_attr=[9858, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1611, 27],
  pos=[1611, 3],
  norm=[1611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9666],
  edge_attr=[9666, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1799, 27],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10794],
  edge_attr=[10794, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1715, 27],
  pos=[1715, 3],
  norm=[1715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10290],
  edge_attr=[10290, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1798, 27],
  pos=[1798, 3],
  norm=[1798, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10788],
  edge_attr=[10788, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1780, 27],
  pos=[1780, 3],
  norm=[1780, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10680],
  edge_attr=[10680, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1776, 27],
  pos=[1776, 3],
  norm=[1776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10656],
  edge_attr=[10656, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1943, 27],
  pos=[1943, 3],
  norm=[1943, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11658],
  edge_attr=[11658, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1858, 27],
  pos=[1858, 3],
  norm=[1858, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11148],
  edge_attr=[11148, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1938, 27],
  pos=[1938, 3],
  norm=[1938, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11628],
  edge_attr=[11628, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1924, 27],
  pos=[1924, 3],
  norm=[1924, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11544],
  edge_attr=[11544, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1917, 27],
  pos=[1917, 3],
  norm=[1917, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11502],
  edge_attr=[11502, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2085, 27],
  pos=[2085, 3],
  norm=[2085, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12510],
  edge_attr=[12510, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[1988, 27],
  pos=[1988, 3],
  norm=[1988, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11928],
  edge_attr=[11928, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2057, 27],
  pos=[2057, 3],
  norm=[2057, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12342],
  edge_attr=[12342, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2047, 27],
  pos=[2047, 3],
  norm=[2047, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12282],
  edge_attr=[12282, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2257, 27],
  pos=[2257, 3],
  norm=[2257, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13542],
  edge_attr=[13542, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2251, 27],
  pos=[2251, 3],
  norm=[2251, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13506],
  edge_attr=[13506, 3]
)

---Updating memory of learning_module_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2235, 27],
  pos=[2235, 3],
  norm=[2235, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13410],
  edge_attr=[13410, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'tomato_soup_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: tomato_soup_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2382, 27],
  pos=[2382, 3],
  norm=[2382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14292],
  edge_attr=[14292, 3]
)

---Updating memory of learning_module_1---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2270, 27],
  pos=[2270, 3],
  norm=[2270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13620],
  edge_attr=[13620, 3]
)

---Updating memory of learning_module_2---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can 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_3---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2371, 27],
  pos=[2371, 3],
  norm=[2371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14226],
  edge_attr=[14226, 3]
)

---Updating memory of learning_module_4---
tomato_soup_can already in memory (['tomato_soup_can'])
Updating existing graph for tomato_soup_can
building graph
Extended graph tomato_soup_can with new points. New model:
Data(
  x=[2337, 27],
  pos=[2337, 3],
  norm=[2337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14022],
  edge_attr=[14022, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tomato_soup_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_tomato_soup_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball not in memory ([])
Adding a new graph to memory.
init object model with id baseball
built graph 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]
)
Added new graph with id baseball to memory.

---Updating memory of learning_module_1---
baseball not in memory ([])
Adding a new graph to memory.
init object model with id baseball
built graph 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]
)
Added new graph with id baseball to memory.

---Updating memory of learning_module_2---
baseball not in memory ([])
Adding a new graph to memory.
init object model with id baseball
built graph Data(
  x=[176, 27],
  pos=[176, 3],
  norm=[176, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1056],
  edge_attr=[1056, 3]
)
Added new graph with id baseball to memory.

---Updating memory of learning_module_3---
baseball not in memory ([])
Adding a new graph to memory.
init object model with id baseball
built graph Data(
  x=[182, 27],
  pos=[182, 3],
  norm=[182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1092],
  edge_attr=[1092, 3]
)
Added new graph with id baseball to memory.

---Updating memory of learning_module_4---
baseball not in memory ([])
Adding a new graph to memory.
init object model with id baseball
built graph 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]
)
Added new graph with id baseball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[356, 27],
  pos=[356, 3],
  norm=[356, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2136],
  edge_attr=[2136, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[360, 27],
  pos=[360, 3],
  norm=[360, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2160],
  edge_attr=[2160, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[537, 27],
  pos=[537, 3],
  norm=[537, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3222],
  edge_attr=[3222, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[519, 27],
  pos=[519, 3],
  norm=[519, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3114],
  edge_attr=[3114, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[531, 27],
  pos=[531, 3],
  norm=[531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3186],
  edge_attr=[3186, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[540, 27],
  pos=[540, 3],
  norm=[540, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3240],
  edge_attr=[3240, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[716, 27],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4296],
  edge_attr=[4296, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[710, 27],
  pos=[710, 3],
  norm=[710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4260],
  edge_attr=[4260, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[720, 27],
  pos=[720, 3],
  norm=[720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4320],
  edge_attr=[4320, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[713, 27],
  pos=[713, 3],
  norm=[713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4278],
  edge_attr=[4278, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[893, 27],
  pos=[893, 3],
  norm=[893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5358],
  edge_attr=[5358, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[863, 27],
  pos=[863, 3],
  norm=[863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5178],
  edge_attr=[5178, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[889, 27],
  pos=[889, 3],
  norm=[889, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5334],
  edge_attr=[5334, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[890, 27],
  pos=[890, 3],
  norm=[890, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5340],
  edge_attr=[5340, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1075, 27],
  pos=[1075, 3],
  norm=[1075, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6450],
  edge_attr=[6450, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1074, 27],
  pos=[1074, 3],
  norm=[1074, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6444],
  edge_attr=[6444, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1235, 27],
  pos=[1235, 3],
  norm=[1235, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7410],
  edge_attr=[7410, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1182, 27],
  pos=[1182, 3],
  norm=[1182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7092],
  edge_attr=[7092, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1219, 27],
  pos=[1219, 3],
  norm=[1219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7314],
  edge_attr=[7314, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1232, 27],
  pos=[1232, 3],
  norm=[1232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7392],
  edge_attr=[7392, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1381, 27],
  pos=[1381, 3],
  norm=[1381, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8286],
  edge_attr=[8286, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1327, 27],
  pos=[1327, 3],
  norm=[1327, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7962],
  edge_attr=[7962, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1384, 27],
  pos=[1384, 3],
  norm=[1384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8304],
  edge_attr=[8304, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1538, 27],
  pos=[1538, 3],
  norm=[1538, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9228],
  edge_attr=[9228, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1481, 27],
  pos=[1481, 3],
  norm=[1481, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8886],
  edge_attr=[8886, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1501, 27],
  pos=[1501, 3],
  norm=[1501, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9006],
  edge_attr=[9006, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1542, 27],
  pos=[1542, 3],
  norm=[1542, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9252],
  edge_attr=[9252, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1549, 27],
  pos=[1549, 3],
  norm=[1549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9294],
  edge_attr=[9294, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1684, 27],
  pos=[1684, 3],
  norm=[1684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10104],
  edge_attr=[10104, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1624, 27],
  pos=[1624, 3],
  norm=[1624, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9744],
  edge_attr=[9744, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1639, 27],
  pos=[1639, 3],
  norm=[1639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9834],
  edge_attr=[9834, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1683, 27],
  pos=[1683, 3],
  norm=[1683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10098],
  edge_attr=[10098, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1776, 27],
  pos=[1776, 3],
  norm=[1776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10656],
  edge_attr=[10656, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1788, 27],
  pos=[1788, 3],
  norm=[1788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10728],
  edge_attr=[10728, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1835, 27],
  pos=[1835, 3],
  norm=[1835, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11010],
  edge_attr=[11010, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1871, 27],
  pos=[1871, 3],
  norm=[1871, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11226],
  edge_attr=[11226, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1987, 27],
  pos=[1987, 3],
  norm=[1987, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11922],
  edge_attr=[11922, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1898, 27],
  pos=[1898, 3],
  norm=[1898, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11388],
  edge_attr=[11388, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1938, 27],
  pos=[1938, 3],
  norm=[1938, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11628],
  edge_attr=[11628, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[1984, 27],
  pos=[1984, 3],
  norm=[1984, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11904],
  edge_attr=[11904, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2022, 27],
  pos=[2022, 3],
  norm=[2022, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12132],
  edge_attr=[12132, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2143, 27],
  pos=[2143, 3],
  norm=[2143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12858],
  edge_attr=[12858, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2058, 27],
  pos=[2058, 3],
  norm=[2058, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12348],
  edge_attr=[12348, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2085, 27],
  pos=[2085, 3],
  norm=[2085, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12510],
  edge_attr=[12510, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'baseball',
 '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: baseball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2291, 27],
  pos=[2291, 3],
  norm=[2291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13746],
  edge_attr=[13746, 3]
)

---Updating memory of learning_module_1---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2198, 27],
  pos=[2198, 3],
  norm=[2198, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13188],
  edge_attr=[13188, 3]
)

---Updating memory of learning_module_2---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2238, 27],
  pos=[2238, 3],
  norm=[2238, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13428],
  edge_attr=[13428, 3]
)

---Updating memory of learning_module_3---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2300, 27],
  pos=[2300, 3],
  norm=[2300, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13800],
  edge_attr=[13800, 3]
)

---Updating memory of learning_module_4---
baseball already in memory (['baseball'])
Updating existing graph for baseball
building graph
Extended graph baseball with new points. New model:
Data(
  x=[2321, 27],
  pos=[2321, 3],
  norm=[2321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13926],
  edge_attr=[13926, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'baseball',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_baseball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups not in memory ([])
Adding a new graph to memory.
init object model with id g_cups
built graph Data(
  x=[234, 27],
  pos=[234, 3],
  norm=[234, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1404],
  edge_attr=[1404, 3]
)
Added new graph with id g_cups to memory.

---Updating memory of learning_module_1---
g_cups not in memory ([])
Adding a new graph to memory.
init object model with id g_cups
built graph 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]
)
Added new graph with id g_cups to memory.

---Updating memory of learning_module_2---
g_cups not in memory ([])
Adding a new graph to memory.
init object model with id g_cups
built graph 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]
)
Added new graph with id g_cups to memory.

---Updating memory of learning_module_3---
g_cups not in memory ([])
Adding a new graph to memory.
init object model with id g_cups
built graph Data(
  x=[230, 27],
  pos=[230, 3],
  norm=[230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1380],
  edge_attr=[1380, 3]
)
Added new graph with id g_cups to memory.

---Updating memory of learning_module_4---
g_cups not in memory ([])
Adding a new graph to memory.
init object model with id g_cups
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 g_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[470, 27],
  pos=[470, 3],
  norm=[470, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2820],
  edge_attr=[2820, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[442, 27],
  pos=[442, 3],
  norm=[442, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2652],
  edge_attr=[2652, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[456, 27],
  pos=[456, 3],
  norm=[456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2736],
  edge_attr=[2736, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[705, 27],
  pos=[705, 3],
  norm=[705, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4230],
  edge_attr=[4230, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[690, 27],
  pos=[690, 3],
  norm=[690, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4140],
  edge_attr=[4140, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[884, 27],
  pos=[884, 3],
  norm=[884, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5304],
  edge_attr=[5304, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[843, 27],
  pos=[843, 3],
  norm=[843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5058],
  edge_attr=[5058, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[912, 27],
  pos=[912, 3],
  norm=[912, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5472],
  edge_attr=[5472, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1119, 27],
  pos=[1119, 3],
  norm=[1119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6714],
  edge_attr=[6714, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1087, 27],
  pos=[1087, 3],
  norm=[1087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6522],
  edge_attr=[6522, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1150, 27],
  pos=[1150, 3],
  norm=[1150, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6900],
  edge_attr=[6900, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1141, 27],
  pos=[1141, 3],
  norm=[1141, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6846],
  edge_attr=[6846, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1434, 27],
  pos=[1434, 3],
  norm=[1434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8604],
  edge_attr=[8604, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1346, 27],
  pos=[1346, 3],
  norm=[1346, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8076],
  edge_attr=[8076, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1378, 27],
  pos=[1378, 3],
  norm=[1378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8268],
  edge_attr=[8268, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1373, 27],
  pos=[1373, 3],
  norm=[1373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8238],
  edge_attr=[8238, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1555, 27],
  pos=[1555, 3],
  norm=[1555, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9330],
  edge_attr=[9330, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1464, 27],
  pos=[1464, 3],
  norm=[1464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8784],
  edge_attr=[8784, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1460, 27],
  pos=[1460, 3],
  norm=[1460, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8760],
  edge_attr=[8760, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1496, 27],
  pos=[1496, 3],
  norm=[1496, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8976],
  edge_attr=[8976, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1500, 27],
  pos=[1500, 3],
  norm=[1500, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9000],
  edge_attr=[9000, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1719, 27],
  pos=[1719, 3],
  norm=[1719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10314],
  edge_attr=[10314, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1673, 27],
  pos=[1673, 3],
  norm=[1673, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10038],
  edge_attr=[10038, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1839, 27],
  pos=[1839, 3],
  norm=[1839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11034],
  edge_attr=[11034, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1755, 27],
  pos=[1755, 3],
  norm=[1755, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10530],
  edge_attr=[10530, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1738, 27],
  pos=[1738, 3],
  norm=[1738, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10428],
  edge_attr=[10428, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1794, 27],
  pos=[1794, 3],
  norm=[1794, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10764],
  edge_attr=[10764, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1787, 27],
  pos=[1787, 3],
  norm=[1787, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10722],
  edge_attr=[10722, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2003, 27],
  pos=[2003, 3],
  norm=[2003, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12018],
  edge_attr=[12018, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1934, 27],
  pos=[1934, 3],
  norm=[1934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11604],
  edge_attr=[11604, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1882, 27],
  pos=[1882, 3],
  norm=[1882, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11292],
  edge_attr=[11292, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1967, 27],
  pos=[1967, 3],
  norm=[1967, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11802],
  edge_attr=[11802, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[1955, 27],
  pos=[1955, 3],
  norm=[1955, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11730],
  edge_attr=[11730, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2119, 27],
  pos=[2119, 3],
  norm=[2119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12714],
  edge_attr=[12714, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2155, 27],
  pos=[2155, 3],
  norm=[2155, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12930],
  edge_attr=[12930, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2134, 27],
  pos=[2134, 3],
  norm=[2134, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12804],
  edge_attr=[12804, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups 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]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2220, 27],
  pos=[2220, 3],
  norm=[2220, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13320],
  edge_attr=[13320, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2162, 27],
  pos=[2162, 3],
  norm=[2162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12972],
  edge_attr=[12972, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2266, 27],
  pos=[2266, 3],
  norm=[2266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13596],
  edge_attr=[13596, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2237, 27],
  pos=[2237, 3],
  norm=[2237, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13422],
  edge_attr=[13422, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2467, 27],
  pos=[2467, 3],
  norm=[2467, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14802],
  edge_attr=[14802, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2407, 27],
  pos=[2407, 3],
  norm=[2407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14442],
  edge_attr=[14442, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2314, 27],
  pos=[2314, 3],
  norm=[2314, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13884],
  edge_attr=[13884, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2441, 27],
  pos=[2441, 3],
  norm=[2441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14646],
  edge_attr=[14646, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2425, 27],
  pos=[2425, 3],
  norm=[2425, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14550],
  edge_attr=[14550, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'g_cups',
 '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: g_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2571, 27],
  pos=[2571, 3],
  norm=[2571, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15426],
  edge_attr=[15426, 3]
)

---Updating memory of learning_module_1---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2513, 27],
  pos=[2513, 3],
  norm=[2513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15078],
  edge_attr=[15078, 3]
)

---Updating memory of learning_module_2---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2436, 27],
  pos=[2436, 3],
  norm=[2436, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14616],
  edge_attr=[14616, 3]
)

---Updating memory of learning_module_3---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2542, 27],
  pos=[2542, 3],
  norm=[2542, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15252],
  edge_attr=[15252, 3]
)

---Updating memory of learning_module_4---
g_cups already in memory (['g_cups'])
Updating existing graph for g_cups
building graph
Extended graph g_cups with new points. New model:
Data(
  x=[2536, 27],
  pos=[2536, 3],
  norm=[2536, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15216],
  edge_attr=[15216, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'g_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_g_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box not in memory ([])
Adding a new graph to memory.
init object model with id gelatin_box
built graph Data(
  x=[115, 27],
  pos=[115, 3],
  norm=[115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 690],
  edge_attr=[690, 3]
)
Added new graph with id gelatin_box to memory.

---Updating memory of learning_module_1---
gelatin_box not in memory ([])
Adding a new graph to memory.
init object model with id gelatin_box
built graph Data(
  x=[104, 27],
  pos=[104, 3],
  norm=[104, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 624],
  edge_attr=[624, 3]
)
Added new graph with id gelatin_box to memory.

---Updating memory of learning_module_2---
gelatin_box not in memory ([])
Adding a new graph to memory.
init object model with id gelatin_box
built graph Data(
  x=[113, 27],
  pos=[113, 3],
  norm=[113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 678],
  edge_attr=[678, 3]
)
Added new graph with id gelatin_box to memory.

---Updating memory of learning_module_3---
gelatin_box not in memory ([])
Adding a new graph to memory.
init object model with id gelatin_box
built graph Data(
  x=[108, 27],
  pos=[108, 3],
  norm=[108, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 648],
  edge_attr=[648, 3]
)
Added new graph with id gelatin_box to memory.

---Updating memory of learning_module_4---
gelatin_box not in memory ([])
Adding a new graph to memory.
init object model with id gelatin_box
built graph Data(
  x=[99, 27],
  pos=[99, 3],
  norm=[99, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 594],
  edge_attr=[594, 3]
)
Added new graph with id gelatin_box to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[249, 27],
  pos=[249, 3],
  norm=[249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1494],
  edge_attr=[1494, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[223, 27],
  pos=[223, 3],
  norm=[223, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1338],
  edge_attr=[1338, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[232, 27],
  pos=[232, 3],
  norm=[232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1392],
  edge_attr=[1392, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[463, 27],
  pos=[463, 3],
  norm=[463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2778],
  edge_attr=[2778, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[467, 27],
  pos=[467, 3],
  norm=[467, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2802],
  edge_attr=[2802, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[480, 27],
  pos=[480, 3],
  norm=[480, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2880],
  edge_attr=[2880, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[708, 27],
  pos=[708, 3],
  norm=[708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4248],
  edge_attr=[4248, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[687, 27],
  pos=[687, 3],
  norm=[687, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4122],
  edge_attr=[4122, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[908, 27],
  pos=[908, 3],
  norm=[908, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5448],
  edge_attr=[5448, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[945, 27],
  pos=[945, 3],
  norm=[945, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5670],
  edge_attr=[5670, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[914, 27],
  pos=[914, 3],
  norm=[914, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5484],
  edge_attr=[5484, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1074, 27],
  pos=[1074, 3],
  norm=[1074, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6444],
  edge_attr=[6444, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1003, 27],
  pos=[1003, 3],
  norm=[1003, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6018],
  edge_attr=[6018, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1032, 27],
  pos=[1032, 3],
  norm=[1032, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6192],
  edge_attr=[6192, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1143, 27],
  pos=[1143, 3],
  norm=[1143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6858],
  edge_attr=[6858, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1121, 27],
  pos=[1121, 3],
  norm=[1121, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6726],
  edge_attr=[6726, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1270, 27],
  pos=[1270, 3],
  norm=[1270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7620],
  edge_attr=[7620, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1196, 27],
  pos=[1196, 3],
  norm=[1196, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7176],
  edge_attr=[7176, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1235, 27],
  pos=[1235, 3],
  norm=[1235, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7410],
  edge_attr=[7410, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1201, 27],
  pos=[1201, 3],
  norm=[1201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7206],
  edge_attr=[7206, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1230, 27],
  pos=[1230, 3],
  norm=[1230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7380],
  edge_attr=[7380, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1359, 27],
  pos=[1359, 3],
  norm=[1359, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8154],
  edge_attr=[8154, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1283, 27],
  pos=[1283, 3],
  norm=[1283, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7698],
  edge_attr=[7698, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1333, 27],
  pos=[1333, 3],
  norm=[1333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7998],
  edge_attr=[7998, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1287, 27],
  pos=[1287, 3],
  norm=[1287, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7722],
  edge_attr=[7722, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1342, 27],
  pos=[1342, 3],
  norm=[1342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8052],
  edge_attr=[8052, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1459, 27],
  pos=[1459, 3],
  norm=[1459, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8754],
  edge_attr=[8754, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1435, 27],
  pos=[1435, 3],
  norm=[1435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8610],
  edge_attr=[8610, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1383, 27],
  pos=[1383, 3],
  norm=[1383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8298],
  edge_attr=[8298, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1455, 27],
  pos=[1455, 3],
  norm=[1455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8730],
  edge_attr=[8730, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1557, 27],
  pos=[1557, 3],
  norm=[1557, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9342],
  edge_attr=[9342, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1475, 27],
  pos=[1475, 3],
  norm=[1475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8850],
  edge_attr=[8850, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1523, 27],
  pos=[1523, 3],
  norm=[1523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9138],
  edge_attr=[9138, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1475, 27],
  pos=[1475, 3],
  norm=[1475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8850],
  edge_attr=[8850, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1555, 27],
  pos=[1555, 3],
  norm=[1555, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9330],
  edge_attr=[9330, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1651, 27],
  pos=[1651, 3],
  norm=[1651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9906],
  edge_attr=[9906, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1569, 27],
  pos=[1569, 3],
  norm=[1569, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9414],
  edge_attr=[9414, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1626, 27],
  pos=[1626, 3],
  norm=[1626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9756],
  edge_attr=[9756, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1578, 27],
  pos=[1578, 3],
  norm=[1578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9468],
  edge_attr=[9468, 3]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1657, 27],
  pos=[1657, 3],
  norm=[1657, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9942],
  edge_attr=[9942, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'gelatin_box',
 '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: gelatin_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1744, 27],
  pos=[1744, 3],
  norm=[1744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10464],
  edge_attr=[10464, 3]
)

---Updating memory of learning_module_1---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1659, 27],
  pos=[1659, 3],
  norm=[1659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9954],
  edge_attr=[9954, 3]
)

---Updating memory of learning_module_2---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1719, 27],
  pos=[1719, 3],
  norm=[1719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10314],
  edge_attr=[10314, 3]
)

---Updating memory of learning_module_3---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box 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]
)

---Updating memory of learning_module_4---
gelatin_box already in memory (['gelatin_box'])
Updating existing graph for gelatin_box
building graph
Extended graph gelatin_box with new points. New model:
Data(
  x=[1745, 27],
  pos=[1745, 3],
  norm=[1745, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10470],
  edge_attr=[10470, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'gelatin_box',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_gelatin_box/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon not in memory ([])
Adding a new graph to memory.
init object model with id lemon
built graph Data(
  x=[163, 27],
  pos=[163, 3],
  norm=[163, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 978],
  edge_attr=[978, 3]
)
Added new graph with id lemon to memory.

---Updating memory of learning_module_1---
lemon not in memory ([])
Adding a new graph to memory.
init object model with id lemon
built graph Data(
  x=[158, 27],
  pos=[158, 3],
  norm=[158, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 948],
  edge_attr=[948, 3]
)
Added new graph with id lemon to memory.

---Updating memory of learning_module_2---
lemon not in memory ([])
Adding a new graph to memory.
init object model with id lemon
built graph 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]
)
Added new graph with id lemon to memory.

---Updating memory of learning_module_3---
lemon not in memory ([])
Adding a new graph to memory.
init object model with id lemon
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 lemon to memory.

---Updating memory of learning_module_4---
lemon not in memory ([])
Adding a new graph to memory.
init object model with id lemon
built graph Data(
  x=[163, 27],
  pos=[163, 3],
  norm=[163, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 978],
  edge_attr=[978, 3]
)
Added new graph with id lemon to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[270, 27],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1620],
  edge_attr=[1620, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[260, 27],
  pos=[260, 3],
  norm=[260, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1560],
  edge_attr=[1560, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[274, 27],
  pos=[274, 3],
  norm=[274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1644],
  edge_attr=[1644, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[523, 27],
  pos=[523, 3],
  norm=[523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3138],
  edge_attr=[3138, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[653, 27],
  pos=[653, 3],
  norm=[653, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3918],
  edge_attr=[3918, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[659, 27],
  pos=[659, 3],
  norm=[659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3954],
  edge_attr=[3954, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[686, 27],
  pos=[686, 3],
  norm=[686, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4116],
  edge_attr=[4116, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[834, 27],
  pos=[834, 3],
  norm=[834, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5004],
  edge_attr=[5004, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[803, 27],
  pos=[803, 3],
  norm=[803, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4818],
  edge_attr=[4818, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[817, 27],
  pos=[817, 3],
  norm=[817, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4902],
  edge_attr=[4902, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[921, 27],
  pos=[921, 3],
  norm=[921, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5526],
  edge_attr=[5526, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[916, 27],
  pos=[916, 3],
  norm=[916, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5496],
  edge_attr=[5496, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[976, 27],
  pos=[976, 3],
  norm=[976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5856],
  edge_attr=[5856, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[962, 27],
  pos=[962, 3],
  norm=[962, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5772],
  edge_attr=[5772, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1012, 27],
  pos=[1012, 3],
  norm=[1012, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6072],
  edge_attr=[6072, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1007, 27],
  pos=[1007, 3],
  norm=[1007, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6042],
  edge_attr=[6042, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1129, 27],
  pos=[1129, 3],
  norm=[1129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6774],
  edge_attr=[6774, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1084, 27],
  pos=[1084, 3],
  norm=[1084, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6504],
  edge_attr=[6504, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1183, 27],
  pos=[1183, 3],
  norm=[1183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7098],
  edge_attr=[7098, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1230, 27],
  pos=[1230, 3],
  norm=[1230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7380],
  edge_attr=[7380, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1250, 27],
  pos=[1250, 3],
  norm=[1250, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7500],
  edge_attr=[7500, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1376, 27],
  pos=[1376, 3],
  norm=[1376, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8256],
  edge_attr=[8256, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1338, 27],
  pos=[1338, 3],
  norm=[1338, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8028],
  edge_attr=[8028, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1302, 27],
  pos=[1302, 3],
  norm=[1302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7812],
  edge_attr=[7812, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1373, 27],
  pos=[1373, 3],
  norm=[1373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8238],
  edge_attr=[8238, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1486, 27],
  pos=[1486, 3],
  norm=[1486, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8916],
  edge_attr=[8916, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1430, 27],
  pos=[1430, 3],
  norm=[1430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8580],
  edge_attr=[8580, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1417, 27],
  pos=[1417, 3],
  norm=[1417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8502],
  edge_attr=[8502, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1444, 27],
  pos=[1444, 3],
  norm=[1444, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8664],
  edge_attr=[8664, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1490, 27],
  pos=[1490, 3],
  norm=[1490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8940],
  edge_attr=[8940, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1571, 27],
  pos=[1571, 3],
  norm=[1571, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9426],
  edge_attr=[9426, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1517, 27],
  pos=[1517, 3],
  norm=[1517, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9102],
  edge_attr=[9102, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1495, 27],
  pos=[1495, 3],
  norm=[1495, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8970],
  edge_attr=[8970, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon 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_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1576, 27],
  pos=[1576, 3],
  norm=[1576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9456],
  edge_attr=[9456, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'lemon',
 '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: lemon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1652, 27],
  pos=[1652, 3],
  norm=[1652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9912],
  edge_attr=[9912, 3]
)

---Updating memory of learning_module_1---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1581, 27],
  pos=[1581, 3],
  norm=[1581, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9486],
  edge_attr=[9486, 3]
)

---Updating memory of learning_module_2---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1572, 27],
  pos=[1572, 3],
  norm=[1572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9432],
  edge_attr=[9432, 3]
)

---Updating memory of learning_module_3---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1622, 27],
  pos=[1622, 3],
  norm=[1622, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9732],
  edge_attr=[9732, 3]
)

---Updating memory of learning_module_4---
lemon already in memory (['lemon'])
Updating existing graph for lemon
building graph
Extended graph lemon with new points. New model:
Data(
  x=[1654, 27],
  pos=[1654, 3],
  norm=[1654, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9924],
  edge_attr=[9924, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'lemon',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_lemon/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum not in memory ([])
Adding a new graph to memory.
init object model with id plum
built graph Data(
  x=[142, 27],
  pos=[142, 3],
  norm=[142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 852],
  edge_attr=[852, 3]
)
Added new graph with id plum to memory.

---Updating memory of learning_module_1---
plum not in memory ([])
Adding a new graph to memory.
init object model with id plum
built graph Data(
  x=[134, 27],
  pos=[134, 3],
  norm=[134, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 804],
  edge_attr=[804, 3]
)
Added new graph with id plum to memory.

---Updating memory of learning_module_2---
plum not in memory ([])
Adding a new graph to memory.
init object model with id plum
built graph Data(
  x=[141, 27],
  pos=[141, 3],
  norm=[141, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 846],
  edge_attr=[846, 3]
)
Added new graph with id plum to memory.

---Updating memory of learning_module_3---
plum not in memory ([])
Adding a new graph to memory.
init object model with id plum
built graph Data(
  x=[149, 27],
  pos=[149, 3],
  norm=[149, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 894],
  edge_attr=[894, 3]
)
Added new graph with id plum to memory.

---Updating memory of learning_module_4---
plum not in memory ([])
Adding a new graph to memory.
init object model with id plum
built graph Data(
  x=[144, 27],
  pos=[144, 3],
  norm=[144, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 864],
  edge_attr=[864, 3]
)
Added new graph with id plum to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[286, 27],
  pos=[286, 3],
  norm=[286, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1716],
  edge_attr=[1716, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[278, 27],
  pos=[278, 3],
  norm=[278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1668],
  edge_attr=[1668, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[297, 27],
  pos=[297, 3],
  norm=[297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1782],
  edge_attr=[1782, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[441, 27],
  pos=[441, 3],
  norm=[441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2646],
  edge_attr=[2646, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[432, 27],
  pos=[432, 3],
  norm=[432, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2592],
  edge_attr=[2592, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[576, 27],
  pos=[576, 3],
  norm=[576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3456],
  edge_attr=[3456, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[531, 27],
  pos=[531, 3],
  norm=[531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3186],
  edge_attr=[3186, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[554, 27],
  pos=[554, 3],
  norm=[554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3324],
  edge_attr=[3324, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[592, 27],
  pos=[592, 3],
  norm=[592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3552],
  edge_attr=[3552, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[707, 27],
  pos=[707, 3],
  norm=[707, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4242],
  edge_attr=[4242, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[839, 27],
  pos=[839, 3],
  norm=[839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5034],
  edge_attr=[5034, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[872, 27],
  pos=[872, 3],
  norm=[872, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5232],
  edge_attr=[5232, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[948, 27],
  pos=[948, 3],
  norm=[948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5688],
  edge_attr=[5688, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1074, 27],
  pos=[1074, 3],
  norm=[1074, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6444],
  edge_attr=[6444, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1012, 27],
  pos=[1012, 3],
  norm=[1012, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6072],
  edge_attr=[6072, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1050, 27],
  pos=[1050, 3],
  norm=[1050, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6300],
  edge_attr=[6300, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1119, 27],
  pos=[1119, 3],
  norm=[1119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6714],
  edge_attr=[6714, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1091, 27],
  pos=[1091, 3],
  norm=[1091, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6546],
  edge_attr=[6546, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1181, 27],
  pos=[1181, 3],
  norm=[1181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7086],
  edge_attr=[7086, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1108, 27],
  pos=[1108, 3],
  norm=[1108, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6648],
  edge_attr=[6648, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1161, 27],
  pos=[1161, 3],
  norm=[1161, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6966],
  edge_attr=[6966, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1230, 27],
  pos=[1230, 3],
  norm=[1230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7380],
  edge_attr=[7380, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1206, 27],
  pos=[1206, 3],
  norm=[1206, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7236],
  edge_attr=[7236, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1290, 27],
  pos=[1290, 3],
  norm=[1290, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7740],
  edge_attr=[7740, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1212, 27],
  pos=[1212, 3],
  norm=[1212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7272],
  edge_attr=[7272, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1330, 27],
  pos=[1330, 3],
  norm=[1330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7980],
  edge_attr=[7980, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1315, 27],
  pos=[1315, 3],
  norm=[1315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7890],
  edge_attr=[7890, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1409, 27],
  pos=[1409, 3],
  norm=[1409, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8454],
  edge_attr=[8454, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1332, 27],
  pos=[1332, 3],
  norm=[1332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7992],
  edge_attr=[7992, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1448, 27],
  pos=[1448, 3],
  norm=[1448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8688],
  edge_attr=[8688, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1446, 27],
  pos=[1446, 3],
  norm=[1446, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8676],
  edge_attr=[8676, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1493, 27],
  pos=[1493, 3],
  norm=[1493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8958],
  edge_attr=[8958, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1403, 27],
  pos=[1403, 3],
  norm=[1403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8418],
  edge_attr=[8418, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1462, 27],
  pos=[1462, 3],
  norm=[1462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8772],
  edge_attr=[8772, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1545, 27],
  pos=[1545, 3],
  norm=[1545, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9270],
  edge_attr=[9270, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1543, 27],
  pos=[1543, 3],
  norm=[1543, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9258],
  edge_attr=[9258, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1613, 27],
  pos=[1613, 3],
  norm=[1613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9678],
  edge_attr=[9678, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1524, 27],
  pos=[1524, 3],
  norm=[1524, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9144],
  edge_attr=[9144, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1575, 27],
  pos=[1575, 3],
  norm=[1575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9450],
  edge_attr=[9450, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1674, 27],
  pos=[1674, 3],
  norm=[1674, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10044],
  edge_attr=[10044, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum 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 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'plum',
 '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: plum
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1708, 27],
  pos=[1708, 3],
  norm=[1708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10248],
  edge_attr=[10248, 3]
)

---Updating memory of learning_module_1---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1595, 27],
  pos=[1595, 3],
  norm=[1595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9570],
  edge_attr=[9570, 3]
)

---Updating memory of learning_module_2---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1682, 27],
  pos=[1682, 3],
  norm=[1682, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10092],
  edge_attr=[10092, 3]
)

---Updating memory of learning_module_3---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1772, 27],
  pos=[1772, 3],
  norm=[1772, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10632],
  edge_attr=[10632, 3]
)

---Updating memory of learning_module_4---
plum already in memory (['plum'])
Updating existing graph for plum
building graph
Extended graph plum with new points. New model:
Data(
  x=[1762, 27],
  pos=[1762, 3],
  norm=[1762, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10572],
  edge_attr=[10572, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'plum',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_plum/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball not in memory ([])
Adding a new graph to memory.
init object model with id racquetball
built graph Data(
  x=[145, 27],
  pos=[145, 3],
  norm=[145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 870],
  edge_attr=[870, 3]
)
Added new graph with id racquetball to memory.

---Updating memory of learning_module_1---
racquetball not in memory ([])
Adding a new graph to memory.
init object model with id racquetball
built graph Data(
  x=[143, 27],
  pos=[143, 3],
  norm=[143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 858],
  edge_attr=[858, 3]
)
Added new graph with id racquetball to memory.

---Updating memory of learning_module_2---
racquetball not in memory ([])
Adding a new graph to memory.
init object model with id racquetball
built graph Data(
  x=[143, 27],
  pos=[143, 3],
  norm=[143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 858],
  edge_attr=[858, 3]
)
Added new graph with id racquetball to memory.

---Updating memory of learning_module_3---
racquetball not in memory ([])
Adding a new graph to memory.
init object model with id racquetball
built graph Data(
  x=[149, 27],
  pos=[149, 3],
  norm=[149, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 894],
  edge_attr=[894, 3]
)
Added new graph with id racquetball to memory.

---Updating memory of learning_module_4---
racquetball not in memory ([])
Adding a new graph to memory.
init object model with id racquetball
built graph Data(
  x=[149, 27],
  pos=[149, 3],
  norm=[149, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 894],
  edge_attr=[894, 3]
)
Added new graph with id racquetball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[290, 27],
  pos=[290, 3],
  norm=[290, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1740],
  edge_attr=[1740, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[284, 27],
  pos=[284, 3],
  norm=[284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1704],
  edge_attr=[1704, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[296, 27],
  pos=[296, 3],
  norm=[296, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1776],
  edge_attr=[1776, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[298, 27],
  pos=[298, 3],
  norm=[298, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1788],
  edge_attr=[1788, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[445, 27],
  pos=[445, 3],
  norm=[445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2670],
  edge_attr=[2670, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[445, 27],
  pos=[445, 3],
  norm=[445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2670],
  edge_attr=[2670, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[565, 27],
  pos=[565, 3],
  norm=[565, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3390],
  edge_attr=[3390, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[592, 27],
  pos=[592, 3],
  norm=[592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3552],
  edge_attr=[3552, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[725, 27],
  pos=[725, 3],
  norm=[725, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4350],
  edge_attr=[4350, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[709, 27],
  pos=[709, 3],
  norm=[709, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4254],
  edge_attr=[4254, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[843, 27],
  pos=[843, 3],
  norm=[843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5058],
  edge_attr=[5058, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[883, 27],
  pos=[883, 3],
  norm=[883, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5298],
  edge_attr=[5298, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[887, 27],
  pos=[887, 3],
  norm=[887, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5322],
  edge_attr=[5322, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[988, 27],
  pos=[988, 3],
  norm=[988, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5928],
  edge_attr=[5928, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[953, 27],
  pos=[953, 3],
  norm=[953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5718],
  edge_attr=[5718, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[962, 27],
  pos=[962, 3],
  norm=[962, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5772],
  edge_attr=[5772, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1008, 27],
  pos=[1008, 3],
  norm=[1008, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6048],
  edge_attr=[6048, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1006, 27],
  pos=[1006, 3],
  norm=[1006, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6036],
  edge_attr=[6036, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1121, 27],
  pos=[1121, 3],
  norm=[1121, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6726],
  edge_attr=[6726, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1115, 27],
  pos=[1115, 3],
  norm=[1115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6690],
  edge_attr=[6690, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1220, 27],
  pos=[1220, 3],
  norm=[1220, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7320],
  edge_attr=[7320, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1172, 27],
  pos=[1172, 3],
  norm=[1172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7032],
  edge_attr=[7032, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1169, 27],
  pos=[1169, 3],
  norm=[1169, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7014],
  edge_attr=[7014, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1239, 27],
  pos=[1239, 3],
  norm=[1239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7434],
  edge_attr=[7434, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1238, 27],
  pos=[1238, 3],
  norm=[1238, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7428],
  edge_attr=[7428, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1332, 27],
  pos=[1332, 3],
  norm=[1332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7992],
  edge_attr=[7992, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1280, 27],
  pos=[1280, 3],
  norm=[1280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7680],
  edge_attr=[7680, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1258, 27],
  pos=[1258, 3],
  norm=[1258, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7548],
  edge_attr=[7548, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1344, 27],
  pos=[1344, 3],
  norm=[1344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8064],
  edge_attr=[8064, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1453, 27],
  pos=[1453, 3],
  norm=[1453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8718],
  edge_attr=[8718, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1391, 27],
  pos=[1391, 3],
  norm=[1391, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8346],
  edge_attr=[8346, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1358, 27],
  pos=[1358, 3],
  norm=[1358, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8148],
  edge_attr=[8148, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1460, 27],
  pos=[1460, 3],
  norm=[1460, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8760],
  edge_attr=[8760, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1465, 27],
  pos=[1465, 3],
  norm=[1465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8790],
  edge_attr=[8790, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1563, 27],
  pos=[1563, 3],
  norm=[1563, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9378],
  edge_attr=[9378, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1471, 27],
  pos=[1471, 3],
  norm=[1471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8826],
  edge_attr=[8826, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1468, 27],
  pos=[1468, 3],
  norm=[1468, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8808],
  edge_attr=[8808, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1564, 27],
  pos=[1564, 3],
  norm=[1564, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9384],
  edge_attr=[9384, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1575, 27],
  pos=[1575, 3],
  norm=[1575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9450],
  edge_attr=[9450, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1678, 27],
  pos=[1678, 3],
  norm=[1678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10068],
  edge_attr=[10068, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1585, 27],
  pos=[1585, 3],
  norm=[1585, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9510],
  edge_attr=[9510, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1567, 27],
  pos=[1567, 3],
  norm=[1567, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9402],
  edge_attr=[9402, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'racquetball',
 '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: racquetball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1788, 27],
  pos=[1788, 3],
  norm=[1788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10728],
  edge_attr=[10728, 3]
)

---Updating memory of learning_module_1---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1668, 27],
  pos=[1668, 3],
  norm=[1668, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10008],
  edge_attr=[10008, 3]
)

---Updating memory of learning_module_2---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1682, 27],
  pos=[1682, 3],
  norm=[1682, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10092],
  edge_attr=[10092, 3]
)

---Updating memory of learning_module_3---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1805, 27],
  pos=[1805, 3],
  norm=[1805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10830],
  edge_attr=[10830, 3]
)

---Updating memory of learning_module_4---
racquetball already in memory (['racquetball'])
Updating existing graph for racquetball
building graph
Extended graph racquetball with new points. New model:
Data(
  x=[1799, 27],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10794],
  edge_attr=[10794, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'racquetball',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_racquetball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate not in memory ([])
Adding a new graph to memory.
init object model with id plate
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 plate to memory.

---Updating memory of learning_module_1---
plate not in memory ([])
Adding a new graph to memory.
init object model with id plate
built graph Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)
Added new graph with id plate to memory.

---Updating memory of learning_module_2---
plate not in memory ([])
Adding a new graph to memory.
init object model with id plate
built graph 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]
)
Added new graph with id plate to memory.

---Updating memory of learning_module_3---
plate not in memory ([])
Adding a new graph to memory.
init object model with id plate
built graph 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]
)
Added new graph with id plate to memory.

---Updating memory of learning_module_4---
plate not in memory ([])
Adding a new graph to memory.
init object model with id plate
built graph 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]
)
Added new graph with id plate to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[186, 27],
  pos=[186, 3],
  norm=[186, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1116],
  edge_attr=[1116, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[117, 27],
  pos=[117, 3],
  norm=[117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 702],
  edge_attr=[702, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[255, 27],
  pos=[255, 3],
  norm=[255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1530],
  edge_attr=[1530, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[189, 27],
  pos=[189, 3],
  norm=[189, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1134],
  edge_attr=[1134, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[269, 27],
  pos=[269, 3],
  norm=[269, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1614],
  edge_attr=[1614, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[167, 27],
  pos=[167, 3],
  norm=[167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1002],
  edge_attr=[1002, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[273, 27],
  pos=[273, 3],
  norm=[273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1638],
  edge_attr=[1638, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[275, 27],
  pos=[275, 3],
  norm=[275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1650],
  edge_attr=[1650, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[239, 27],
  pos=[239, 3],
  norm=[239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1434],
  edge_attr=[1434, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[520, 27],
  pos=[520, 3],
  norm=[520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3120],
  edge_attr=[3120, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[389, 27],
  pos=[389, 3],
  norm=[389, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2334],
  edge_attr=[2334, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[391, 27],
  pos=[391, 3],
  norm=[391, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2346],
  edge_attr=[2346, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[578, 27],
  pos=[578, 3],
  norm=[578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3468],
  edge_attr=[3468, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[434, 27],
  pos=[434, 3],
  norm=[434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2604],
  edge_attr=[2604, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[716, 27],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4296],
  edge_attr=[4296, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[587, 27],
  pos=[587, 3],
  norm=[587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3522],
  edge_attr=[3522, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[769, 27],
  pos=[769, 3],
  norm=[769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4614],
  edge_attr=[4614, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[630, 27],
  pos=[630, 3],
  norm=[630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3780],
  edge_attr=[3780, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[904, 27],
  pos=[904, 3],
  norm=[904, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5424],
  edge_attr=[5424, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[781, 27],
  pos=[781, 3],
  norm=[781, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4686],
  edge_attr=[4686, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[939, 27],
  pos=[939, 3],
  norm=[939, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5634],
  edge_attr=[5634, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[800, 27],
  pos=[800, 3],
  norm=[800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4800],
  edge_attr=[4800, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1077, 27],
  pos=[1077, 3],
  norm=[1077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6462],
  edge_attr=[6462, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[948, 27],
  pos=[948, 3],
  norm=[948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5688],
  edge_attr=[5688, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[948, 27],
  pos=[948, 3],
  norm=[948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5688],
  edge_attr=[5688, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1239, 27],
  pos=[1239, 3],
  norm=[1239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7434],
  edge_attr=[7434, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1122, 27],
  pos=[1122, 3],
  norm=[1122, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6732],
  edge_attr=[6732, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1271, 27],
  pos=[1271, 3],
  norm=[1271, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7626],
  edge_attr=[7626, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1409, 27],
  pos=[1409, 3],
  norm=[1409, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8454],
  edge_attr=[8454, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1280, 27],
  pos=[1280, 3],
  norm=[1280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7680],
  edge_attr=[7680, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1291, 27],
  pos=[1291, 3],
  norm=[1291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7746],
  edge_attr=[7746, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1433, 27],
  pos=[1433, 3],
  norm=[1433, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8598],
  edge_attr=[8598, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1310, 27],
  pos=[1310, 3],
  norm=[1310, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7860],
  edge_attr=[7860, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1565, 27],
  pos=[1565, 3],
  norm=[1565, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9390],
  edge_attr=[9390, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1453, 27],
  pos=[1453, 3],
  norm=[1453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8718],
  edge_attr=[8718, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1599, 27],
  pos=[1599, 3],
  norm=[1599, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9594],
  edge_attr=[9594, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1478, 27],
  pos=[1478, 3],
  norm=[1478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8868],
  edge_attr=[8868, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1723, 27],
  pos=[1723, 3],
  norm=[1723, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10338],
  edge_attr=[10338, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1620, 27],
  pos=[1620, 3],
  norm=[1620, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9720],
  edge_attr=[9720, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1617, 27],
  pos=[1617, 3],
  norm=[1617, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9702],
  edge_attr=[9702, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1766, 27],
  pos=[1766, 3],
  norm=[1766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10596],
  edge_attr=[10596, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1642, 27],
  pos=[1642, 3],
  norm=[1642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9852],
  edge_attr=[9852, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1893, 27],
  pos=[1893, 3],
  norm=[1893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11358],
  edge_attr=[11358, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1787, 27],
  pos=[1787, 3],
  norm=[1787, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10722],
  edge_attr=[10722, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1933, 27],
  pos=[1933, 3],
  norm=[1933, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11598],
  edge_attr=[11598, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1805, 27],
  pos=[1805, 3],
  norm=[1805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10830],
  edge_attr=[10830, 3]
)

---Updating memory of learning_module_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[2054, 27],
  pos=[2054, 3],
  norm=[2054, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12324],
  edge_attr=[12324, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1953, 27],
  pos=[1953, 3],
  norm=[1953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11718],
  edge_attr=[11718, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[1951, 27],
  pos=[1951, 3],
  norm=[1951, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11706],
  edge_attr=[11706, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'plate',
 '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: plate
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[2095, 27],
  pos=[2095, 3],
  norm=[2095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12570],
  edge_attr=[12570, 3]
)

---Updating memory of learning_module_1---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate 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_2---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[2224, 27],
  pos=[2224, 3],
  norm=[2224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13344],
  edge_attr=[13344, 3]
)

---Updating memory of learning_module_3---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[2114, 27],
  pos=[2114, 3],
  norm=[2114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12684],
  edge_attr=[12684, 3]
)

---Updating memory of learning_module_4---
plate already in memory (['plate'])
Updating existing graph for plate
building graph
Extended graph plate with new points. New model:
Data(
  x=[2115, 27],
  pos=[2115, 3],
  norm=[2115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12690],
  edge_attr=[12690, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'plate',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_plate/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box not in memory ([])
Adding a new graph to memory.
init object model with id pudding_box
built graph Data(
  x=[140, 27],
  pos=[140, 3],
  norm=[140, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 840],
  edge_attr=[840, 3]
)
Added new graph with id pudding_box to memory.

---Updating memory of learning_module_1---
pudding_box not in memory ([])
Adding a new graph to memory.
init object model with id pudding_box
built graph Data(
  x=[130, 27],
  pos=[130, 3],
  norm=[130, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 780],
  edge_attr=[780, 3]
)
Added new graph with id pudding_box to memory.

---Updating memory of learning_module_2---
pudding_box not in memory ([])
Adding a new graph to memory.
init object model with id pudding_box
built graph Data(
  x=[137, 27],
  pos=[137, 3],
  norm=[137, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 822],
  edge_attr=[822, 3]
)
Added new graph with id pudding_box to memory.

---Updating memory of learning_module_3---
pudding_box not in memory ([])
Adding a new graph to memory.
init object model with id pudding_box
built graph Data(
  x=[126, 27],
  pos=[126, 3],
  norm=[126, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 756],
  edge_attr=[756, 3]
)
Added new graph with id pudding_box to memory.

---Updating memory of learning_module_4---
pudding_box not in memory ([])
Adding a new graph to memory.
init object model with id pudding_box
built graph 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]
)
Added new graph with id pudding_box to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[289, 27],
  pos=[289, 3],
  norm=[289, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1734],
  edge_attr=[1734, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[261, 27],
  pos=[261, 3],
  norm=[261, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1566],
  edge_attr=[1566, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[283, 27],
  pos=[283, 3],
  norm=[283, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1698],
  edge_attr=[1698, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[278, 27],
  pos=[278, 3],
  norm=[278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1668],
  edge_attr=[1668, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[274, 27],
  pos=[274, 3],
  norm=[274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1644],
  edge_attr=[1644, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[388, 27],
  pos=[388, 3],
  norm=[388, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2328],
  edge_attr=[2328, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[576, 27],
  pos=[576, 3],
  norm=[576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3456],
  edge_attr=[3456, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[559, 27],
  pos=[559, 3],
  norm=[559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3354],
  edge_attr=[3354, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[783, 27],
  pos=[783, 3],
  norm=[783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4698],
  edge_attr=[4698, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[763, 27],
  pos=[763, 3],
  norm=[763, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4578],
  edge_attr=[4578, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[765, 27],
  pos=[765, 3],
  norm=[765, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4590],
  edge_attr=[4590, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[757, 27],
  pos=[757, 3],
  norm=[757, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4542],
  edge_attr=[4542, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[988, 27],
  pos=[988, 3],
  norm=[988, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5928],
  edge_attr=[5928, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[935, 27],
  pos=[935, 3],
  norm=[935, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5610],
  edge_attr=[5610, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[963, 27],
  pos=[963, 3],
  norm=[963, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5778],
  edge_attr=[5778, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[966, 27],
  pos=[966, 3],
  norm=[966, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5796],
  edge_attr=[5796, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[957, 27],
  pos=[957, 3],
  norm=[957, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5742],
  edge_attr=[5742, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1136, 27],
  pos=[1136, 3],
  norm=[1136, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6816],
  edge_attr=[6816, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1067, 27],
  pos=[1067, 3],
  norm=[1067, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6402],
  edge_attr=[6402, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1105, 27],
  pos=[1105, 3],
  norm=[1105, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6630],
  edge_attr=[6630, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1105, 27],
  pos=[1105, 3],
  norm=[1105, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6630],
  edge_attr=[6630, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1278, 27],
  pos=[1278, 3],
  norm=[1278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7668],
  edge_attr=[7668, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1208, 27],
  pos=[1208, 3],
  norm=[1208, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7248],
  edge_attr=[7248, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1246, 27],
  pos=[1246, 3],
  norm=[1246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7476],
  edge_attr=[7476, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1243, 27],
  pos=[1243, 3],
  norm=[1243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7458],
  edge_attr=[7458, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1397, 27],
  pos=[1397, 3],
  norm=[1397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8382],
  edge_attr=[8382, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1332, 27],
  pos=[1332, 3],
  norm=[1332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7992],
  edge_attr=[7992, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1359, 27],
  pos=[1359, 3],
  norm=[1359, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8154],
  edge_attr=[8154, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1364, 27],
  pos=[1364, 3],
  norm=[1364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8184],
  edge_attr=[8184, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1545, 27],
  pos=[1545, 3],
  norm=[1545, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9270],
  edge_attr=[9270, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1474, 27],
  pos=[1474, 3],
  norm=[1474, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8844],
  edge_attr=[8844, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1509, 27],
  pos=[1509, 3],
  norm=[1509, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9054],
  edge_attr=[9054, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1513, 27],
  pos=[1513, 3],
  norm=[1513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9078],
  edge_attr=[9078, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1499, 27],
  pos=[1499, 3],
  norm=[1499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8994],
  edge_attr=[8994, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1587, 27],
  pos=[1587, 3],
  norm=[1587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9522],
  edge_attr=[9522, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1632, 27],
  pos=[1632, 3],
  norm=[1632, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9792],
  edge_attr=[9792, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1611, 27],
  pos=[1611, 3],
  norm=[1611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9666],
  edge_attr=[9666, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box 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]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1726, 27],
  pos=[1726, 3],
  norm=[1726, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10356],
  edge_attr=[10356, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1774, 27],
  pos=[1774, 3],
  norm=[1774, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10644],
  edge_attr=[10644, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1782, 27],
  pos=[1782, 3],
  norm=[1782, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10692],
  edge_attr=[10692, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1743, 27],
  pos=[1743, 3],
  norm=[1743, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10458],
  edge_attr=[10458, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1959, 27],
  pos=[1959, 3],
  norm=[1959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11754],
  edge_attr=[11754, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1871, 27],
  pos=[1871, 3],
  norm=[1871, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11226],
  edge_attr=[11226, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1915, 27],
  pos=[1915, 3],
  norm=[1915, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11490],
  edge_attr=[11490, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1924, 27],
  pos=[1924, 3],
  norm=[1924, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11544],
  edge_attr=[11544, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1895, 27],
  pos=[1895, 3],
  norm=[1895, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11370],
  edge_attr=[11370, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'pudding_box',
 '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: pudding_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[2087, 27],
  pos=[2087, 3],
  norm=[2087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12522],
  edge_attr=[12522, 3]
)

---Updating memory of learning_module_1---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[1996, 27],
  pos=[1996, 3],
  norm=[1996, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11976],
  edge_attr=[11976, 3]
)

---Updating memory of learning_module_2---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[2051, 27],
  pos=[2051, 3],
  norm=[2051, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12306],
  edge_attr=[12306, 3]
)

---Updating memory of learning_module_3---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[2062, 27],
  pos=[2062, 3],
  norm=[2062, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12372],
  edge_attr=[12372, 3]
)

---Updating memory of learning_module_4---
pudding_box already in memory (['pudding_box'])
Updating existing graph for pudding_box
building graph
Extended graph pudding_box with new points. New model:
Data(
  x=[2026, 27],
  pos=[2026, 3],
  norm=[2026, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12156],
  edge_attr=[12156, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pudding_box',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_pudding_box/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups not in memory ([])
Adding a new graph to memory.
init object model with id e_cups
built graph Data(
  x=[234, 27],
  pos=[234, 3],
  norm=[234, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1404],
  edge_attr=[1404, 3]
)
Added new graph with id e_cups to memory.

---Updating memory of learning_module_1---
e_cups not in memory ([])
Adding a new graph to memory.
init object model with id e_cups
built graph Data(
  x=[232, 27],
  pos=[232, 3],
  norm=[232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1392],
  edge_attr=[1392, 3]
)
Added new graph with id e_cups to memory.

---Updating memory of learning_module_2---
e_cups not in memory ([])
Adding a new graph to memory.
init object model with id e_cups
built graph Data(
  x=[217, 27],
  pos=[217, 3],
  norm=[217, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1302],
  edge_attr=[1302, 3]
)
Added new graph with id e_cups to memory.

---Updating memory of learning_module_3---
e_cups not in memory ([])
Adding a new graph to memory.
init object model with id e_cups
built graph Data(
  x=[234, 27],
  pos=[234, 3],
  norm=[234, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1404],
  edge_attr=[1404, 3]
)
Added new graph with id e_cups to memory.

---Updating memory of learning_module_4---
e_cups not in memory ([])
Adding a new graph to memory.
init object model with id e_cups
built graph Data(
  x=[232, 27],
  pos=[232, 3],
  norm=[232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1392],
  edge_attr=[1392, 3]
)
Added new graph with id e_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[470, 27],
  pos=[470, 3],
  norm=[470, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2820],
  edge_attr=[2820, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[465, 27],
  pos=[465, 3],
  norm=[465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2790],
  edge_attr=[2790, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[434, 27],
  pos=[434, 3],
  norm=[434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2604],
  edge_attr=[2604, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[468, 27],
  pos=[468, 3],
  norm=[468, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2808],
  edge_attr=[2808, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[705, 27],
  pos=[705, 3],
  norm=[705, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4230],
  edge_attr=[4230, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[697, 27],
  pos=[697, 3],
  norm=[697, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4182],
  edge_attr=[4182, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[651, 27],
  pos=[651, 3],
  norm=[651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3906],
  edge_attr=[3906, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[702, 27],
  pos=[702, 3],
  norm=[702, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4212],
  edge_attr=[4212, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[939, 27],
  pos=[939, 3],
  norm=[939, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5634],
  edge_attr=[5634, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[928, 27],
  pos=[928, 3],
  norm=[928, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5568],
  edge_attr=[5568, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[928, 27],
  pos=[928, 3],
  norm=[928, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5568],
  edge_attr=[5568, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1131, 27],
  pos=[1131, 3],
  norm=[1131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6786],
  edge_attr=[6786, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1058, 27],
  pos=[1058, 3],
  norm=[1058, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6348],
  edge_attr=[6348, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1115, 27],
  pos=[1115, 3],
  norm=[1115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6690],
  edge_attr=[6690, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1324, 27],
  pos=[1324, 3],
  norm=[1324, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7944],
  edge_attr=[7944, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1294, 27],
  pos=[1294, 3],
  norm=[1294, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7764],
  edge_attr=[7764, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1309, 27],
  pos=[1309, 3],
  norm=[1309, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7854],
  edge_attr=[7854, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1299, 27],
  pos=[1299, 3],
  norm=[1299, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7794],
  edge_attr=[7794, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1457, 27],
  pos=[1457, 3],
  norm=[1457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8742],
  edge_attr=[8742, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1414, 27],
  pos=[1414, 3],
  norm=[1414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8484],
  edge_attr=[8484, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1384, 27],
  pos=[1384, 3],
  norm=[1384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8304],
  edge_attr=[8304, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1435, 27],
  pos=[1435, 3],
  norm=[1435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8610],
  edge_attr=[8610, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1584, 27],
  pos=[1584, 3],
  norm=[1584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9504],
  edge_attr=[9504, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1540, 27],
  pos=[1540, 3],
  norm=[1540, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9240],
  edge_attr=[9240, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1503, 27],
  pos=[1503, 3],
  norm=[1503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9018],
  edge_attr=[9018, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1563, 27],
  pos=[1563, 3],
  norm=[1563, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9378],
  edge_attr=[9378, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1560, 27],
  pos=[1560, 3],
  norm=[1560, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9360],
  edge_attr=[9360, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1710, 27],
  pos=[1710, 3],
  norm=[1710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10260],
  edge_attr=[10260, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1663, 27],
  pos=[1663, 3],
  norm=[1663, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9978],
  edge_attr=[9978, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1646, 27],
  pos=[1646, 3],
  norm=[1646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9876],
  edge_attr=[9876, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1699, 27],
  pos=[1699, 3],
  norm=[1699, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10194],
  edge_attr=[10194, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1688, 27],
  pos=[1688, 3],
  norm=[1688, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10128],
  edge_attr=[10128, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1834, 27],
  pos=[1834, 3],
  norm=[1834, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11004],
  edge_attr=[11004, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1791, 27],
  pos=[1791, 3],
  norm=[1791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10746],
  edge_attr=[10746, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1763, 27],
  pos=[1763, 3],
  norm=[1763, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10578],
  edge_attr=[10578, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1827, 27],
  pos=[1827, 3],
  norm=[1827, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10962],
  edge_attr=[10962, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1809, 27],
  pos=[1809, 3],
  norm=[1809, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10854],
  edge_attr=[10854, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1966, 27],
  pos=[1966, 3],
  norm=[1966, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11796],
  edge_attr=[11796, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1925, 27],
  pos=[1925, 3],
  norm=[1925, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11550],
  edge_attr=[11550, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1885, 27],
  pos=[1885, 3],
  norm=[1885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11310],
  edge_attr=[11310, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[1972, 27],
  pos=[1972, 3],
  norm=[1972, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11832],
  edge_attr=[11832, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups 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': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2087, 27],
  pos=[2087, 3],
  norm=[2087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12522],
  edge_attr=[12522, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2026, 27],
  pos=[2026, 3],
  norm=[2026, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12156],
  edge_attr=[12156, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2017, 27],
  pos=[2017, 3],
  norm=[2017, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12102],
  edge_attr=[12102, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2095, 27],
  pos=[2095, 3],
  norm=[2095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12570],
  edge_attr=[12570, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2064, 27],
  pos=[2064, 3],
  norm=[2064, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12384],
  edge_attr=[12384, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2220, 27],
  pos=[2220, 3],
  norm=[2220, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13320],
  edge_attr=[13320, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2165, 27],
  pos=[2165, 3],
  norm=[2165, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12990],
  edge_attr=[12990, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2139, 27],
  pos=[2139, 3],
  norm=[2139, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12834],
  edge_attr=[12834, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2225, 27],
  pos=[2225, 3],
  norm=[2225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13350],
  edge_attr=[13350, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2206, 27],
  pos=[2206, 3],
  norm=[2206, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13236],
  edge_attr=[13236, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'e_cups',
 '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: e_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2337, 27],
  pos=[2337, 3],
  norm=[2337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14022],
  edge_attr=[14022, 3]
)

---Updating memory of learning_module_1---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2267, 27],
  pos=[2267, 3],
  norm=[2267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13602],
  edge_attr=[13602, 3]
)

---Updating memory of learning_module_2---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2271, 27],
  pos=[2271, 3],
  norm=[2271, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13626],
  edge_attr=[13626, 3]
)

---Updating memory of learning_module_3---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2344, 27],
  pos=[2344, 3],
  norm=[2344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14064],
  edge_attr=[14064, 3]
)

---Updating memory of learning_module_4---
e_cups already in memory (['e_cups'])
Updating existing graph for e_cups
building graph
Extended graph e_cups with new points. New model:
Data(
  x=[2328, 27],
  pos=[2328, 3],
  norm=[2328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13968],
  edge_attr=[13968, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_e_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple not in memory ([])
Adding a new graph to memory.
init object model with id apple
built graph Data(
  x=[225, 27],
  pos=[225, 3],
  norm=[225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1350],
  edge_attr=[1350, 3]
)
Added new graph with id apple to memory.

---Updating memory of learning_module_1---
apple not in memory ([])
Adding a new graph to memory.
init object model with id apple
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 apple to memory.

---Updating memory of learning_module_2---
apple not in memory ([])
Adding a new graph to memory.
init object model with id apple
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 apple to memory.

---Updating memory of learning_module_3---
apple not in memory ([])
Adding a new graph to memory.
init object model with id apple
built graph 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]
)
Added new graph with id apple to memory.

---Updating memory of learning_module_4---
apple not in memory ([])
Adding a new graph to memory.
init object model with id apple
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 apple to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[442, 27],
  pos=[442, 3],
  norm=[442, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2652],
  edge_attr=[2652, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[439, 27],
  pos=[439, 3],
  norm=[439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2634],
  edge_attr=[2634, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[669, 27],
  pos=[669, 3],
  norm=[669, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4014],
  edge_attr=[4014, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[637, 27],
  pos=[637, 3],
  norm=[637, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3822],
  edge_attr=[3822, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[900, 27],
  pos=[900, 3],
  norm=[900, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5400],
  edge_attr=[5400, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1154, 27],
  pos=[1154, 3],
  norm=[1154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6924],
  edge_attr=[6924, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1382, 27],
  pos=[1382, 3],
  norm=[1382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8292],
  edge_attr=[8292, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1267, 27],
  pos=[1267, 3],
  norm=[1267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7602],
  edge_attr=[7602, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1321, 27],
  pos=[1321, 3],
  norm=[1321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7926],
  edge_attr=[7926, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1322, 27],
  pos=[1322, 3],
  norm=[1322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7932],
  edge_attr=[7932, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1506, 27],
  pos=[1506, 3],
  norm=[1506, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9036],
  edge_attr=[9036, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1384, 27],
  pos=[1384, 3],
  norm=[1384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8304],
  edge_attr=[8304, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1439, 27],
  pos=[1439, 3],
  norm=[1439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8634],
  edge_attr=[8634, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1446, 27],
  pos=[1446, 3],
  norm=[1446, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8676],
  edge_attr=[8676, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1687, 27],
  pos=[1687, 3],
  norm=[1687, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10122],
  edge_attr=[10122, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1561, 27],
  pos=[1561, 3],
  norm=[1561, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9366],
  edge_attr=[9366, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1592, 27],
  pos=[1592, 3],
  norm=[1592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9552],
  edge_attr=[9552, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1625, 27],
  pos=[1625, 3],
  norm=[1625, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9750],
  edge_attr=[9750, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1624, 27],
  pos=[1624, 3],
  norm=[1624, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9744],
  edge_attr=[9744, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1820, 27],
  pos=[1820, 3],
  norm=[1820, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10920],
  edge_attr=[10920, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1690, 27],
  pos=[1690, 3],
  norm=[1690, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10140],
  edge_attr=[10140, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1726, 27],
  pos=[1726, 3],
  norm=[1726, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10356],
  edge_attr=[10356, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1763, 27],
  pos=[1763, 3],
  norm=[1763, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10578],
  edge_attr=[10578, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1759, 27],
  pos=[1759, 3],
  norm=[1759, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10554],
  edge_attr=[10554, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2000, 27],
  pos=[2000, 3],
  norm=[2000, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12000],
  edge_attr=[12000, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1863, 27],
  pos=[1863, 3],
  norm=[1863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11178],
  edge_attr=[11178, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1886, 27],
  pos=[1886, 3],
  norm=[1886, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11316],
  edge_attr=[11316, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[1946, 27],
  pos=[1946, 3],
  norm=[1946, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11676],
  edge_attr=[11676, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2183, 27],
  pos=[2183, 3],
  norm=[2183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13098],
  edge_attr=[13098, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2037, 27],
  pos=[2037, 3],
  norm=[2037, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12222],
  edge_attr=[12222, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2050, 27],
  pos=[2050, 3],
  norm=[2050, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12300],
  edge_attr=[12300, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2128, 27],
  pos=[2128, 3],
  norm=[2128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12768],
  edge_attr=[12768, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2294, 27],
  pos=[2294, 3],
  norm=[2294, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13764],
  edge_attr=[13764, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2146, 27],
  pos=[2146, 3],
  norm=[2146, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12876],
  edge_attr=[12876, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2238, 27],
  pos=[2238, 3],
  norm=[2238, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13428],
  edge_attr=[13428, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2251, 27],
  pos=[2251, 3],
  norm=[2251, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13506],
  edge_attr=[13506, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2488, 27],
  pos=[2488, 3],
  norm=[2488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14928],
  edge_attr=[14928, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2328, 27],
  pos=[2328, 3],
  norm=[2328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13968],
  edge_attr=[13968, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple 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]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2423, 27],
  pos=[2423, 3],
  norm=[2423, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14538],
  edge_attr=[14538, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2441, 27],
  pos=[2441, 3],
  norm=[2441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14646],
  edge_attr=[14646, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'apple',
 '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: apple
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2607, 27],
  pos=[2607, 3],
  norm=[2607, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15642],
  edge_attr=[15642, 3]
)

---Updating memory of learning_module_1---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2439, 27],
  pos=[2439, 3],
  norm=[2439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14634],
  edge_attr=[14634, 3]
)

---Updating memory of learning_module_2---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2462, 27],
  pos=[2462, 3],
  norm=[2462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14772],
  edge_attr=[14772, 3]
)

---Updating memory of learning_module_3---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2551, 27],
  pos=[2551, 3],
  norm=[2551, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15306],
  edge_attr=[15306, 3]
)

---Updating memory of learning_module_4---
apple already in memory (['apple'])
Updating existing graph for apple
building graph
Extended graph apple with new points. New model:
Data(
  x=[2561, 27],
  pos=[2561, 3],
  norm=[2561, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15366],
  edge_attr=[15366, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'apple',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_apple/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups not in memory ([])
Adding a new graph to memory.
init object model with id j_cups
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 j_cups to memory.

---Updating memory of learning_module_1---
j_cups not in memory ([])
Adding a new graph to memory.
init object model with id j_cups
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 j_cups to memory.

---Updating memory of learning_module_2---
j_cups not in memory ([])
Adding a new graph to memory.
init object model with id j_cups
built graph 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]
)
Added new graph with id j_cups to memory.

---Updating memory of learning_module_3---
j_cups not in memory ([])
Adding a new graph to memory.
init object model with id j_cups
built graph Data(
  x=[237, 27],
  pos=[237, 3],
  norm=[237, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1422],
  edge_attr=[1422, 3]
)
Added new graph with id j_cups to memory.

---Updating memory of learning_module_4---
j_cups not in memory ([])
Adding a new graph to memory.
init object model with id j_cups
built graph Data(
  x=[237, 27],
  pos=[237, 3],
  norm=[237, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1422],
  edge_attr=[1422, 3]
)
Added new graph with id j_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[456, 27],
  pos=[456, 3],
  norm=[456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2736],
  edge_attr=[2736, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[438, 27],
  pos=[438, 3],
  norm=[438, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2628],
  edge_attr=[2628, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[420, 27],
  pos=[420, 3],
  norm=[420, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2520],
  edge_attr=[2520, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[473, 27],
  pos=[473, 3],
  norm=[473, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2838],
  edge_attr=[2838, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[473, 27],
  pos=[473, 3],
  norm=[473, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2838],
  edge_attr=[2838, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[708, 27],
  pos=[708, 3],
  norm=[708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4248],
  edge_attr=[4248, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[710, 27],
  pos=[710, 3],
  norm=[710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4260],
  edge_attr=[4260, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[913, 27],
  pos=[913, 3],
  norm=[913, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5478],
  edge_attr=[5478, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[876, 27],
  pos=[876, 3],
  norm=[876, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5256],
  edge_attr=[5256, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1154, 27],
  pos=[1154, 3],
  norm=[1154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6924],
  edge_attr=[6924, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1105, 27],
  pos=[1105, 3],
  norm=[1105, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6630],
  edge_attr=[6630, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1077, 27],
  pos=[1077, 3],
  norm=[1077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6462],
  edge_attr=[6462, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1168, 27],
  pos=[1168, 3],
  norm=[1168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7008],
  edge_attr=[7008, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1174, 27],
  pos=[1174, 3],
  norm=[1174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7044],
  edge_attr=[7044, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1307, 27],
  pos=[1307, 3],
  norm=[1307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7842],
  edge_attr=[7842, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1391, 27],
  pos=[1391, 3],
  norm=[1391, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8346],
  edge_attr=[8346, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1523, 27],
  pos=[1523, 3],
  norm=[1523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9138],
  edge_attr=[9138, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1449, 27],
  pos=[1449, 3],
  norm=[1449, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8694],
  edge_attr=[8694, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1444, 27],
  pos=[1444, 3],
  norm=[1444, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8664],
  edge_attr=[8664, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1518, 27],
  pos=[1518, 3],
  norm=[1518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9108],
  edge_attr=[9108, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1532, 27],
  pos=[1532, 3],
  norm=[1532, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9192],
  edge_attr=[9192, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1632, 27],
  pos=[1632, 3],
  norm=[1632, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9792],
  edge_attr=[9792, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1596, 27],
  pos=[1596, 3],
  norm=[1596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9576],
  edge_attr=[9576, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1684, 27],
  pos=[1684, 3],
  norm=[1684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10104],
  edge_attr=[10104, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1699, 27],
  pos=[1699, 3],
  norm=[1699, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10194],
  edge_attr=[10194, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1821, 27],
  pos=[1821, 3],
  norm=[1821, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10926],
  edge_attr=[10926, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1754, 27],
  pos=[1754, 3],
  norm=[1754, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10524],
  edge_attr=[10524, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1732, 27],
  pos=[1732, 3],
  norm=[1732, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10392],
  edge_attr=[10392, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1818, 27],
  pos=[1818, 3],
  norm=[1818, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10908],
  edge_attr=[10908, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1826, 27],
  pos=[1826, 3],
  norm=[1826, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10956],
  edge_attr=[10956, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1989, 27],
  pos=[1989, 3],
  norm=[1989, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11934],
  edge_attr=[11934, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1943, 27],
  pos=[1943, 3],
  norm=[1943, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11658],
  edge_attr=[11658, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1885, 27],
  pos=[1885, 3],
  norm=[1885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11310],
  edge_attr=[11310, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1990, 27],
  pos=[1990, 3],
  norm=[1990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11940],
  edge_attr=[11940, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[1990, 27],
  pos=[1990, 3],
  norm=[1990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11940],
  edge_attr=[11940, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2167, 27],
  pos=[2167, 3],
  norm=[2167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13002],
  edge_attr=[13002, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2137, 27],
  pos=[2137, 3],
  norm=[2137, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12822],
  edge_attr=[12822, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2048, 27],
  pos=[2048, 3],
  norm=[2048, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12288],
  edge_attr=[12288, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2162, 27],
  pos=[2162, 3],
  norm=[2162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12972],
  edge_attr=[12972, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2280, 27],
  pos=[2280, 3],
  norm=[2280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13680],
  edge_attr=[13680, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2173, 27],
  pos=[2173, 3],
  norm=[2173, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13038],
  edge_attr=[13038, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2288, 27],
  pos=[2288, 3],
  norm=[2288, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13728],
  edge_attr=[13728, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2459, 27],
  pos=[2459, 3],
  norm=[2459, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14754],
  edge_attr=[14754, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2446, 27],
  pos=[2446, 3],
  norm=[2446, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14676],
  edge_attr=[14676, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2338, 27],
  pos=[2338, 3],
  norm=[2338, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14028],
  edge_attr=[14028, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2463, 27],
  pos=[2463, 3],
  norm=[2463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14778],
  edge_attr=[14778, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2463, 27],
  pos=[2463, 3],
  norm=[2463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14778],
  edge_attr=[14778, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'j_cups',
 '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: j_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2572, 27],
  pos=[2572, 3],
  norm=[2572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15432],
  edge_attr=[15432, 3]
)

---Updating memory of learning_module_1---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2559, 27],
  pos=[2559, 3],
  norm=[2559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15354],
  edge_attr=[15354, 3]
)

---Updating memory of learning_module_2---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2466, 27],
  pos=[2466, 3],
  norm=[2466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14796],
  edge_attr=[14796, 3]
)

---Updating memory of learning_module_3---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2580, 27],
  pos=[2580, 3],
  norm=[2580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15480],
  edge_attr=[15480, 3]
)

---Updating memory of learning_module_4---
j_cups already in memory (['j_cups'])
Updating existing graph for j_cups
building graph
Extended graph j_cups with new points. New model:
Data(
  x=[2578, 27],
  pos=[2578, 3],
  norm=[2578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15468],
  edge_attr=[15468, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'j_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_j_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick not in memory ([])
Adding a new graph to memory.
init object model with id foam_brick
built graph Data(
  x=[215, 27],
  pos=[215, 3],
  norm=[215, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1290],
  edge_attr=[1290, 3]
)
Added new graph with id foam_brick to memory.

---Updating memory of learning_module_1---
foam_brick not in memory ([])
Adding a new graph to memory.
init object model with id foam_brick
built graph Data(
  x=[200, 27],
  pos=[200, 3],
  norm=[200, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1200],
  edge_attr=[1200, 3]
)
Added new graph with id foam_brick to memory.

---Updating memory of learning_module_2---
foam_brick not in memory ([])
Adding a new graph to memory.
init object model with id foam_brick
built graph Data(
  x=[205, 27],
  pos=[205, 3],
  norm=[205, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1230],
  edge_attr=[1230, 3]
)
Added new graph with id foam_brick to memory.

---Updating memory of learning_module_3---
foam_brick not in memory ([])
Adding a new graph to memory.
init object model with id foam_brick
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id foam_brick to memory.

---Updating memory of learning_module_4---
foam_brick not in memory ([])
Adding a new graph to memory.
init object model with id foam_brick
built graph Data(
  x=[194, 27],
  pos=[194, 3],
  norm=[194, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1164],
  edge_attr=[1164, 3]
)
Added new graph with id foam_brick to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[438, 27],
  pos=[438, 3],
  norm=[438, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2628],
  edge_attr=[2628, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[411, 27],
  pos=[411, 3],
  norm=[411, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2466],
  edge_attr=[2466, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[650, 27],
  pos=[650, 3],
  norm=[650, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3900],
  edge_attr=[3900, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[608, 27],
  pos=[608, 3],
  norm=[608, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3648],
  edge_attr=[3648, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[601, 27],
  pos=[601, 3],
  norm=[601, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3606],
  edge_attr=[3606, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[836, 27],
  pos=[836, 3],
  norm=[836, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5016],
  edge_attr=[5016, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[815, 27],
  pos=[815, 3],
  norm=[815, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4890],
  edge_attr=[4890, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1117, 27],
  pos=[1117, 3],
  norm=[1117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6702],
  edge_attr=[6702, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1074, 27],
  pos=[1074, 3],
  norm=[1074, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6444],
  edge_attr=[6444, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1044, 27],
  pos=[1044, 3],
  norm=[1044, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6264],
  edge_attr=[6264, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1368, 27],
  pos=[1368, 3],
  norm=[1368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8208],
  edge_attr=[8208, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1267, 27],
  pos=[1267, 3],
  norm=[1267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7602],
  edge_attr=[7602, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1313, 27],
  pos=[1313, 3],
  norm=[1313, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7878],
  edge_attr=[7878, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1278, 27],
  pos=[1278, 3],
  norm=[1278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7668],
  edge_attr=[7668, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1275, 27],
  pos=[1275, 3],
  norm=[1275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7650],
  edge_attr=[7650, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1489, 27],
  pos=[1489, 3],
  norm=[1489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8934],
  edge_attr=[8934, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1382, 27],
  pos=[1382, 3],
  norm=[1382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8292],
  edge_attr=[8292, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1434, 27],
  pos=[1434, 3],
  norm=[1434, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8604],
  edge_attr=[8604, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1406, 27],
  pos=[1406, 3],
  norm=[1406, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8436],
  edge_attr=[8436, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick 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_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1503, 27],
  pos=[1503, 3],
  norm=[1503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9018],
  edge_attr=[9018, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1541, 27],
  pos=[1541, 3],
  norm=[1541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9246],
  edge_attr=[9246, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1503, 27],
  pos=[1503, 3],
  norm=[1503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9018],
  edge_attr=[9018, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1527, 27],
  pos=[1527, 3],
  norm=[1527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9162],
  edge_attr=[9162, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1719, 27],
  pos=[1719, 3],
  norm=[1719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10314],
  edge_attr=[10314, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1614, 27],
  pos=[1614, 3],
  norm=[1614, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9684],
  edge_attr=[9684, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1666, 27],
  pos=[1666, 3],
  norm=[1666, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9996],
  edge_attr=[9996, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1625, 27],
  pos=[1625, 3],
  norm=[1625, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9750],
  edge_attr=[9750, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1636, 27],
  pos=[1636, 3],
  norm=[1636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9816],
  edge_attr=[9816, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1821, 27],
  pos=[1821, 3],
  norm=[1821, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10926],
  edge_attr=[10926, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1731, 27],
  pos=[1731, 3],
  norm=[1731, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10386],
  edge_attr=[10386, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1767, 27],
  pos=[1767, 3],
  norm=[1767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10602],
  edge_attr=[10602, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1720, 27],
  pos=[1720, 3],
  norm=[1720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10320],
  edge_attr=[10320, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1736, 27],
  pos=[1736, 3],
  norm=[1736, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10416],
  edge_attr=[10416, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1932, 27],
  pos=[1932, 3],
  norm=[1932, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11592],
  edge_attr=[11592, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1847, 27],
  pos=[1847, 3],
  norm=[1847, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11082],
  edge_attr=[11082, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1884, 27],
  pos=[1884, 3],
  norm=[1884, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11304],
  edge_attr=[11304, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1844, 27],
  pos=[1844, 3],
  norm=[1844, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11064],
  edge_attr=[11064, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1840, 27],
  pos=[1840, 3],
  norm=[1840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11040],
  edge_attr=[11040, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2031, 27],
  pos=[2031, 3],
  norm=[2031, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12186],
  edge_attr=[12186, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1931, 27],
  pos=[1931, 3],
  norm=[1931, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11586],
  edge_attr=[11586, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1990, 27],
  pos=[1990, 3],
  norm=[1990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11940],
  edge_attr=[11940, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1942, 27],
  pos=[1942, 3],
  norm=[1942, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11652],
  edge_attr=[11652, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[1943, 27],
  pos=[1943, 3],
  norm=[1943, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11658],
  edge_attr=[11658, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2144, 27],
  pos=[2144, 3],
  norm=[2144, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12864],
  edge_attr=[12864, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2044, 27],
  pos=[2044, 3],
  norm=[2044, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12264],
  edge_attr=[12264, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2095, 27],
  pos=[2095, 3],
  norm=[2095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12570],
  edge_attr=[12570, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2053, 27],
  pos=[2053, 3],
  norm=[2053, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12318],
  edge_attr=[12318, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2061, 27],
  pos=[2061, 3],
  norm=[2061, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12366],
  edge_attr=[12366, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'foam_brick',
 '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: foam_brick
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2243, 27],
  pos=[2243, 3],
  norm=[2243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13458],
  edge_attr=[13458, 3]
)

---Updating memory of learning_module_1---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2140, 27],
  pos=[2140, 3],
  norm=[2140, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12840],
  edge_attr=[12840, 3]
)

---Updating memory of learning_module_2---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2190, 27],
  pos=[2190, 3],
  norm=[2190, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13140],
  edge_attr=[13140, 3]
)

---Updating memory of learning_module_3---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2154, 27],
  pos=[2154, 3],
  norm=[2154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12924],
  edge_attr=[12924, 3]
)

---Updating memory of learning_module_4---
foam_brick already in memory (['foam_brick'])
Updating existing graph for foam_brick
building graph
Extended graph foam_brick with new points. New model:
Data(
  x=[2163, 27],
  pos=[2163, 3],
  norm=[2163, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12978],
  edge_attr=[12978, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'foam_brick',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_foam_brick/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker not in memory ([])
Adding a new graph to memory.
init object model with id large_marker
built graph Data(
  x=[37, 27],
  pos=[37, 3],
  norm=[37, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 222],
  edge_attr=[222, 3]
)
Added new graph with id large_marker to memory.

---Updating memory of learning_module_1---
large_marker not in memory ([])
Adding a new graph to memory.
init object model with id large_marker
built graph Data(
  x=[33, 27],
  pos=[33, 3],
  norm=[33, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 198],
  edge_attr=[198, 3]
)
Added new graph with id large_marker to memory.

---Updating memory of learning_module_2---
large_marker not in memory ([])
Adding a new graph to memory.
init object model with id large_marker
built graph Data(
  x=[33, 27],
  pos=[33, 3],
  norm=[33, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 198],
  edge_attr=[198, 3]
)
Added new graph with id large_marker to memory.

---Updating memory of learning_module_3---
large_marker not in memory ([])
Adding a new graph to memory.
init object model with id large_marker
built graph Data(
  x=[41, 27],
  pos=[41, 3],
  norm=[41, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 246],
  edge_attr=[246, 3]
)
Added new graph with id large_marker to memory.

---Updating memory of learning_module_4---
large_marker not in memory ([])
Adding a new graph to memory.
init object model with id large_marker
built graph Data(
  x=[38, 27],
  pos=[38, 3],
  norm=[38, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 228],
  edge_attr=[228, 3]
)
Added new graph with id large_marker to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[149, 27],
  pos=[149, 3],
  norm=[149, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 894],
  edge_attr=[894, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[156, 27],
  pos=[156, 3],
  norm=[156, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 936],
  edge_attr=[936, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[175, 27],
  pos=[175, 3],
  norm=[175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1050],
  edge_attr=[1050, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[175, 27],
  pos=[175, 3],
  norm=[175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1050],
  edge_attr=[1050, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[279, 27],
  pos=[279, 3],
  norm=[279, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1674],
  edge_attr=[1674, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[256, 27],
  pos=[256, 3],
  norm=[256, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1536],
  edge_attr=[1536, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[254, 27],
  pos=[254, 3],
  norm=[254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1524],
  edge_attr=[1524, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[278, 27],
  pos=[278, 3],
  norm=[278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1668],
  edge_attr=[1668, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[284, 27],
  pos=[284, 3],
  norm=[284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1704],
  edge_attr=[1704, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[397, 27],
  pos=[397, 3],
  norm=[397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2382],
  edge_attr=[2382, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[508, 27],
  pos=[508, 3],
  norm=[508, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3048],
  edge_attr=[3048, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[499, 27],
  pos=[499, 3],
  norm=[499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2994],
  edge_attr=[2994, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[505, 27],
  pos=[505, 3],
  norm=[505, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3030],
  edge_attr=[3030, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[514, 27],
  pos=[514, 3],
  norm=[514, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3084],
  edge_attr=[3084, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[562, 27],
  pos=[562, 3],
  norm=[562, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3372],
  edge_attr=[3372, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[557, 27],
  pos=[557, 3],
  norm=[557, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3342],
  edge_attr=[3342, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[566, 27],
  pos=[566, 3],
  norm=[566, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3396],
  edge_attr=[3396, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[605, 27],
  pos=[605, 3],
  norm=[605, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3630],
  edge_attr=[3630, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[573, 27],
  pos=[573, 3],
  norm=[573, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3438],
  edge_attr=[3438, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[640, 27],
  pos=[640, 3],
  norm=[640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3840],
  edge_attr=[3840, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[617, 27],
  pos=[617, 3],
  norm=[617, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3702],
  edge_attr=[3702, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[678, 27],
  pos=[678, 3],
  norm=[678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4068],
  edge_attr=[4068, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[642, 27],
  pos=[642, 3],
  norm=[642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3852],
  edge_attr=[3852, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[649, 27],
  pos=[649, 3],
  norm=[649, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3894],
  edge_attr=[3894, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[675, 27],
  pos=[675, 3],
  norm=[675, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4050],
  edge_attr=[4050, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[724, 27],
  pos=[724, 3],
  norm=[724, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4344],
  edge_attr=[4344, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[711, 27],
  pos=[711, 3],
  norm=[711, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4266],
  edge_attr=[4266, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[713, 27],
  pos=[713, 3],
  norm=[713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4278],
  edge_attr=[4278, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[795, 27],
  pos=[795, 3],
  norm=[795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4770],
  edge_attr=[4770, 3]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[760, 27],
  pos=[760, 3],
  norm=[760, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4560],
  edge_attr=[4560, 3]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[770, 27],
  pos=[770, 3],
  norm=[770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4620],
  edge_attr=[4620, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[793, 27],
  pos=[793, 3],
  norm=[793, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4758],
  edge_attr=[4758, 3]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[795, 27],
  pos=[795, 3],
  norm=[795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4770],
  edge_attr=[4770, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'large_marker',
 '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: large_marker
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_1---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_2---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker with new points. New model:
Data(
  x=[812, 27],
  pos=[812, 3],
  norm=[812, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4872],
  edge_attr=[4872, 3]
)

---Updating memory of learning_module_3---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)

---Updating memory of learning_module_4---
large_marker already in memory (['large_marker'])
Updating existing graph for large_marker
building graph
Extended graph large_marker 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]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'large_marker',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_large_marker/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach not in memory ([])
Adding a new graph to memory.
init object model with id peach
built graph Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)
Added new graph with id peach to memory.

---Updating memory of learning_module_1---
peach not in memory ([])
Adding a new graph to memory.
init object model with id peach
built graph Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)
Added new graph with id peach to memory.

---Updating memory of learning_module_2---
peach not in memory ([])
Adding a new graph to memory.
init object model with id peach
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 peach to memory.

---Updating memory of learning_module_3---
peach not in memory ([])
Adding a new graph to memory.
init object model with id peach
built graph Data(
  x=[116, 27],
  pos=[116, 3],
  norm=[116, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 696],
  edge_attr=[696, 3]
)
Added new graph with id peach to memory.

---Updating memory of learning_module_4---
peach not in memory ([])
Adding a new graph to memory.
init object model with id peach
built graph Data(
  x=[114, 27],
  pos=[114, 3],
  norm=[114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 684],
  edge_attr=[684, 3]
)
Added new graph with id peach to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[230, 27],
  pos=[230, 3],
  norm=[230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1380],
  edge_attr=[1380, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
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]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[225, 27],
  pos=[225, 3],
  norm=[225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1350],
  edge_attr=[1350, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[248, 27],
  pos=[248, 3],
  norm=[248, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1488],
  edge_attr=[1488, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[382, 27],
  pos=[382, 3],
  norm=[382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2292],
  edge_attr=[2292, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[371, 27],
  pos=[371, 3],
  norm=[371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2226],
  edge_attr=[2226, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[497, 27],
  pos=[497, 3],
  norm=[497, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2982],
  edge_attr=[2982, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[633, 27],
  pos=[633, 3],
  norm=[633, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3798],
  edge_attr=[3798, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[801, 27],
  pos=[801, 3],
  norm=[801, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4806],
  edge_attr=[4806, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[934, 27],
  pos=[934, 3],
  norm=[934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5604],
  edge_attr=[5604, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[948, 27],
  pos=[948, 3],
  norm=[948, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5688],
  edge_attr=[5688, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1030, 27],
  pos=[1030, 3],
  norm=[1030, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6180],
  edge_attr=[6180, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[997, 27],
  pos=[997, 3],
  norm=[997, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5982],
  edge_attr=[5982, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1136, 27],
  pos=[1136, 3],
  norm=[1136, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6816],
  edge_attr=[6816, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1195, 27],
  pos=[1195, 3],
  norm=[1195, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7170],
  edge_attr=[7170, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1197, 27],
  pos=[1197, 3],
  norm=[1197, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7182],
  edge_attr=[7182, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1322, 27],
  pos=[1322, 3],
  norm=[1322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7932],
  edge_attr=[7932, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1311, 27],
  pos=[1311, 3],
  norm=[1311, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7866],
  edge_attr=[7866, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1331, 27],
  pos=[1331, 3],
  norm=[1331, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7986],
  edge_attr=[7986, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1378, 27],
  pos=[1378, 3],
  norm=[1378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8268],
  edge_attr=[8268, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1374, 27],
  pos=[1374, 3],
  norm=[1374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8244],
  edge_attr=[8244, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1416, 27],
  pos=[1416, 3],
  norm=[1416, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8496],
  edge_attr=[8496, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1440, 27],
  pos=[1440, 3],
  norm=[1440, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8640],
  edge_attr=[8640, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1516, 27],
  pos=[1516, 3],
  norm=[1516, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9096],
  edge_attr=[9096, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1464, 27],
  pos=[1464, 3],
  norm=[1464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8784],
  edge_attr=[8784, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1512, 27],
  pos=[1512, 3],
  norm=[1512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9072],
  edge_attr=[9072, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1609, 27],
  pos=[1609, 3],
  norm=[1609, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9654],
  edge_attr=[9654, 3]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1562, 27],
  pos=[1562, 3],
  norm=[1562, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9372],
  edge_attr=[9372, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1568, 27],
  pos=[1568, 3],
  norm=[1568, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9408],
  edge_attr=[9408, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1623, 27],
  pos=[1623, 3],
  norm=[1623, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9738],
  edge_attr=[9738, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1635, 27],
  pos=[1635, 3],
  norm=[1635, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9810],
  edge_attr=[9810, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'peach',
 '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: peach
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach 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]
)

---Updating memory of learning_module_1---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1640, 27],
  pos=[1640, 3],
  norm=[1640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9840],
  edge_attr=[9840, 3]
)

---Updating memory of learning_module_2---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1659, 27],
  pos=[1659, 3],
  norm=[1659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9954],
  edge_attr=[9954, 3]
)

---Updating memory of learning_module_3---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1720, 27],
  pos=[1720, 3],
  norm=[1720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10320],
  edge_attr=[10320, 3]
)

---Updating memory of learning_module_4---
peach already in memory (['peach'])
Updating existing graph for peach
building graph
Extended graph peach with new points. New model:
Data(
  x=[1731, 27],
  pos=[1731, 3],
  norm=[1731, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10386],
  edge_attr=[10386, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'peach',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_peach/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id phillips_screwdriver
built graph Data(
  x=[62, 27],
  pos=[62, 3],
  norm=[62, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 372],
  edge_attr=[372, 3]
)
Added new graph with id phillips_screwdriver to memory.

---Updating memory of learning_module_1---
phillips_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id phillips_screwdriver
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 phillips_screwdriver to memory.

---Updating memory of learning_module_2---
phillips_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id phillips_screwdriver
built graph Data(
  x=[67, 27],
  pos=[67, 3],
  norm=[67, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 402],
  edge_attr=[402, 3]
)
Added new graph with id phillips_screwdriver to memory.

---Updating memory of learning_module_3---
phillips_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id phillips_screwdriver
built graph Data(
  x=[69, 27],
  pos=[69, 3],
  norm=[69, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 414],
  edge_attr=[414, 3]
)
Added new graph with id phillips_screwdriver to memory.

---Updating memory of learning_module_4---
phillips_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id phillips_screwdriver
built graph Data(
  x=[60, 27],
  pos=[60, 3],
  norm=[60, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 360],
  edge_attr=[360, 3]
)
Added new graph with id phillips_screwdriver to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
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]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[92, 27],
  pos=[92, 3],
  norm=[92, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 552],
  edge_attr=[552, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[92, 27],
  pos=[92, 3],
  norm=[92, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 552],
  edge_attr=[552, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[152, 27],
  pos=[152, 3],
  norm=[152, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 912],
  edge_attr=[912, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[150, 27],
  pos=[150, 3],
  norm=[150, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 900],
  edge_attr=[900, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[154, 27],
  pos=[154, 3],
  norm=[154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 924],
  edge_attr=[924, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[209, 27],
  pos=[209, 3],
  norm=[209, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1254],
  edge_attr=[1254, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[274, 27],
  pos=[274, 3],
  norm=[274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1644],
  edge_attr=[1644, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[278, 27],
  pos=[278, 3],
  norm=[278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1668],
  edge_attr=[1668, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[369, 27],
  pos=[369, 3],
  norm=[369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2214],
  edge_attr=[2214, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[382, 27],
  pos=[382, 3],
  norm=[382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2292],
  edge_attr=[2292, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[399, 27],
  pos=[399, 3],
  norm=[399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2394],
  edge_attr=[2394, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[390, 27],
  pos=[390, 3],
  norm=[390, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2340],
  edge_attr=[2340, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[399, 27],
  pos=[399, 3],
  norm=[399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2394],
  edge_attr=[2394, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[399, 27],
  pos=[399, 3],
  norm=[399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2394],
  edge_attr=[2394, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[454, 27],
  pos=[454, 3],
  norm=[454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2724],
  edge_attr=[2724, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[445, 27],
  pos=[445, 3],
  norm=[445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2670],
  edge_attr=[2670, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[478, 27],
  pos=[478, 3],
  norm=[478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2868],
  edge_attr=[2868, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[465, 27],
  pos=[465, 3],
  norm=[465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2790],
  edge_attr=[2790, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[517, 27],
  pos=[517, 3],
  norm=[517, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3102],
  edge_attr=[3102, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[501, 27],
  pos=[501, 3],
  norm=[501, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3006],
  edge_attr=[3006, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[544, 27],
  pos=[544, 3],
  norm=[544, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3264],
  edge_attr=[3264, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[579, 27],
  pos=[579, 3],
  norm=[579, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3474],
  edge_attr=[3474, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[576, 27],
  pos=[576, 3],
  norm=[576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3456],
  edge_attr=[3456, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[636, 27],
  pos=[636, 3],
  norm=[636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3816],
  edge_attr=[3816, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[628, 27],
  pos=[628, 3],
  norm=[628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3768],
  edge_attr=[3768, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[628, 27],
  pos=[628, 3],
  norm=[628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3768],
  edge_attr=[3768, 3]
)

---Updating memory of learning_module_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[698, 27],
  pos=[698, 3],
  norm=[698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4188],
  edge_attr=[4188, 3]
)

---Updating memory of learning_module_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[719, 27],
  pos=[719, 3],
  norm=[719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4314],
  edge_attr=[4314, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'phillips_screwdriver',
 '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: phillips_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_1---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[728, 27],
  pos=[728, 3],
  norm=[728, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4368],
  edge_attr=[4368, 3]
)

---Updating memory of learning_module_2---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_3---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver 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_4---
phillips_screwdriver already in memory (['phillips_screwdriver'])
Updating existing graph for phillips_screwdriver
building graph
Extended graph phillips_screwdriver with new points. New model:
Data(
  x=[778, 27],
  pos=[778, 3],
  norm=[778, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4668],
  edge_attr=[4668, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'phillips_screwdriver',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_phillips_screwdriver/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id a_toy_airplane
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 a_toy_airplane to memory.

---Updating memory of learning_module_1---
a_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id a_toy_airplane
built graph Data(
  x=[173, 27],
  pos=[173, 3],
  norm=[173, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1038],
  edge_attr=[1038, 3]
)
Added new graph with id a_toy_airplane to memory.

---Updating memory of learning_module_2---
a_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id a_toy_airplane
built graph Data(
  x=[171, 27],
  pos=[171, 3],
  norm=[171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1026],
  edge_attr=[1026, 3]
)
Added new graph with id a_toy_airplane to memory.

---Updating memory of learning_module_3---
a_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id a_toy_airplane
built graph 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]
)
Added new graph with id a_toy_airplane to memory.

---Updating memory of learning_module_4---
a_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id a_toy_airplane
built graph Data(
  x=[188, 27],
  pos=[188, 3],
  norm=[188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1128],
  edge_attr=[1128, 3]
)
Added new graph with id a_toy_airplane to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[373, 27],
  pos=[373, 3],
  norm=[373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2238],
  edge_attr=[2238, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[528, 27],
  pos=[528, 3],
  norm=[528, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3168],
  edge_attr=[3168, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[525, 27],
  pos=[525, 3],
  norm=[525, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3150],
  edge_attr=[3150, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[496, 27],
  pos=[496, 3],
  norm=[496, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2976],
  edge_attr=[2976, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[700, 27],
  pos=[700, 3],
  norm=[700, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4200],
  edge_attr=[4200, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[853, 27],
  pos=[853, 3],
  norm=[853, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5118],
  edge_attr=[5118, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[883, 27],
  pos=[883, 3],
  norm=[883, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5298],
  edge_attr=[5298, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1055, 27],
  pos=[1055, 3],
  norm=[1055, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6330],
  edge_attr=[6330, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1210, 27],
  pos=[1210, 3],
  norm=[1210, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7260],
  edge_attr=[7260, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1195, 27],
  pos=[1195, 3],
  norm=[1195, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7170],
  edge_attr=[7170, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1203, 27],
  pos=[1203, 3],
  norm=[1203, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7218],
  edge_attr=[7218, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1192, 27],
  pos=[1192, 3],
  norm=[1192, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7152],
  edge_attr=[7152, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1225, 27],
  pos=[1225, 3],
  norm=[1225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7350],
  edge_attr=[7350, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1340, 27],
  pos=[1340, 3],
  norm=[1340, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8040],
  edge_attr=[8040, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1358, 27],
  pos=[1358, 3],
  norm=[1358, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8148],
  edge_attr=[8148, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1377, 27],
  pos=[1377, 3],
  norm=[1377, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8262],
  edge_attr=[8262, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1518, 27],
  pos=[1518, 3],
  norm=[1518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9108],
  edge_attr=[9108, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1489, 27],
  pos=[1489, 3],
  norm=[1489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8934],
  edge_attr=[8934, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1522, 27],
  pos=[1522, 3],
  norm=[1522, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9132],
  edge_attr=[9132, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1509, 27],
  pos=[1509, 3],
  norm=[1509, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9054],
  edge_attr=[9054, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1532, 27],
  pos=[1532, 3],
  norm=[1532, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9192],
  edge_attr=[9192, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1683, 27],
  pos=[1683, 3],
  norm=[1683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10098],
  edge_attr=[10098, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1650, 27],
  pos=[1650, 3],
  norm=[1650, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9900],
  edge_attr=[9900, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1686, 27],
  pos=[1686, 3],
  norm=[1686, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10116],
  edge_attr=[10116, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1662, 27],
  pos=[1662, 3],
  norm=[1662, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9972],
  edge_attr=[9972, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1714, 27],
  pos=[1714, 3],
  norm=[1714, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10284],
  edge_attr=[10284, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1874, 27],
  pos=[1874, 3],
  norm=[1874, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11244],
  edge_attr=[11244, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1845, 27],
  pos=[1845, 3],
  norm=[1845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11070],
  edge_attr=[11070, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1872, 27],
  pos=[1872, 3],
  norm=[1872, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11232],
  edge_attr=[11232, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1850, 27],
  pos=[1850, 3],
  norm=[1850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11100],
  edge_attr=[11100, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[1902, 27],
  pos=[1902, 3],
  norm=[1902, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11412],
  edge_attr=[11412, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2040, 27],
  pos=[2040, 3],
  norm=[2040, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12240],
  edge_attr=[12240, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2004, 27],
  pos=[2004, 3],
  norm=[2004, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12024],
  edge_attr=[12024, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2057, 27],
  pos=[2057, 3],
  norm=[2057, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12342],
  edge_attr=[12342, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2013, 27],
  pos=[2013, 3],
  norm=[2013, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12078],
  edge_attr=[12078, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2246, 27],
  pos=[2246, 3],
  norm=[2246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13476],
  edge_attr=[13476, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2206, 27],
  pos=[2206, 3],
  norm=[2206, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13236],
  edge_attr=[13236, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2257, 27],
  pos=[2257, 3],
  norm=[2257, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13542],
  edge_attr=[13542, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2212, 27],
  pos=[2212, 3],
  norm=[2212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13272],
  edge_attr=[13272, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2261, 27],
  pos=[2261, 3],
  norm=[2261, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13566],
  edge_attr=[13566, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'a_toy_airplane',
 '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: a_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2417, 27],
  pos=[2417, 3],
  norm=[2417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14502],
  edge_attr=[14502, 3]
)

---Updating memory of learning_module_1---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2366, 27],
  pos=[2366, 3],
  norm=[2366, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14196],
  edge_attr=[14196, 3]
)

---Updating memory of learning_module_2---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2445, 27],
  pos=[2445, 3],
  norm=[2445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14670],
  edge_attr=[14670, 3]
)

---Updating memory of learning_module_3---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2377, 27],
  pos=[2377, 3],
  norm=[2377, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14262],
  edge_attr=[14262, 3]
)

---Updating memory of learning_module_4---
a_toy_airplane already in memory (['a_toy_airplane'])
Updating existing graph for a_toy_airplane
building graph
Extended graph a_toy_airplane with new points. New model:
Data(
  x=[2421, 27],
  pos=[2421, 3],
  norm=[2421, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14526],
  edge_attr=[14526, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_toy_airplane',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_a_toy_airplane/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id e_lego_duplo
built graph Data(
  x=[123, 27],
  pos=[123, 3],
  norm=[123, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 738],
  edge_attr=[738, 3]
)
Added new graph with id e_lego_duplo to memory.

---Updating memory of learning_module_1---
e_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id e_lego_duplo
built graph Data(
  x=[113, 27],
  pos=[113, 3],
  norm=[113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 678],
  edge_attr=[678, 3]
)
Added new graph with id e_lego_duplo to memory.

---Updating memory of learning_module_2---
e_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id e_lego_duplo
built graph Data(
  x=[114, 27],
  pos=[114, 3],
  norm=[114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 684],
  edge_attr=[684, 3]
)
Added new graph with id e_lego_duplo to memory.

---Updating memory of learning_module_3---
e_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id e_lego_duplo
built graph Data(
  x=[123, 27],
  pos=[123, 3],
  norm=[123, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 738],
  edge_attr=[738, 3]
)
Added new graph with id e_lego_duplo to memory.

---Updating memory of learning_module_4---
e_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id e_lego_duplo
built graph 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]
)
Added new graph with id e_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[225, 27],
  pos=[225, 3],
  norm=[225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1350],
  edge_attr=[1350, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[233, 27],
  pos=[233, 3],
  norm=[233, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1398],
  edge_attr=[1398, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_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_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[363, 27],
  pos=[363, 3],
  norm=[363, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2178],
  edge_attr=[2178, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[339, 27],
  pos=[339, 3],
  norm=[339, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2034],
  edge_attr=[2034, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[454, 27],
  pos=[454, 3],
  norm=[454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2724],
  edge_attr=[2724, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[488, 27],
  pos=[488, 3],
  norm=[488, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2928],
  edge_attr=[2928, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[653, 27],
  pos=[653, 3],
  norm=[653, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3918],
  edge_attr=[3918, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[609, 27],
  pos=[609, 3],
  norm=[609, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3654],
  edge_attr=[3654, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_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_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[615, 27],
  pos=[615, 3],
  norm=[615, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3690],
  edge_attr=[3690, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_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_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[779, 27],
  pos=[779, 3],
  norm=[779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4674],
  edge_attr=[4674, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[779, 27],
  pos=[779, 3],
  norm=[779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4674],
  edge_attr=[4674, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[809, 27],
  pos=[809, 3],
  norm=[809, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4854],
  edge_attr=[4854, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[971, 27],
  pos=[971, 3],
  norm=[971, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5826],
  edge_attr=[5826, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[906, 27],
  pos=[906, 3],
  norm=[906, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5436],
  edge_attr=[5436, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[947, 27],
  pos=[947, 3],
  norm=[947, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5682],
  edge_attr=[5682, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[922, 27],
  pos=[922, 3],
  norm=[922, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5532],
  edge_attr=[5532, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[922, 27],
  pos=[922, 3],
  norm=[922, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5532],
  edge_attr=[5532, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_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---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1015, 27],
  pos=[1015, 3],
  norm=[1015, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6090],
  edge_attr=[6090, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1066, 27],
  pos=[1066, 3],
  norm=[1066, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6396],
  edge_attr=[6396, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1017, 27],
  pos=[1017, 3],
  norm=[1017, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6102],
  edge_attr=[6102, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_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_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1098, 27],
  pos=[1098, 3],
  norm=[1098, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6588],
  edge_attr=[6588, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1172, 27],
  pos=[1172, 3],
  norm=[1172, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7032],
  edge_attr=[7032, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1143, 27],
  pos=[1143, 3],
  norm=[1143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6858],
  edge_attr=[6858, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1108, 27],
  pos=[1108, 3],
  norm=[1108, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6648],
  edge_attr=[6648, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1248, 27],
  pos=[1248, 3],
  norm=[1248, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7488],
  edge_attr=[7488, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1160, 27],
  pos=[1160, 3],
  norm=[1160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6960],
  edge_attr=[6960, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1236, 27],
  pos=[1236, 3],
  norm=[1236, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7416],
  edge_attr=[7416, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1206, 27],
  pos=[1206, 3],
  norm=[1206, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7236],
  edge_attr=[7236, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1175, 27],
  pos=[1175, 3],
  norm=[1175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7050],
  edge_attr=[7050, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1306, 27],
  pos=[1306, 3],
  norm=[1306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7836],
  edge_attr=[7836, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1219, 27],
  pos=[1219, 3],
  norm=[1219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7314],
  edge_attr=[7314, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1300, 27],
  pos=[1300, 3],
  norm=[1300, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7800],
  edge_attr=[7800, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1273, 27],
  pos=[1273, 3],
  norm=[1273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7638],
  edge_attr=[7638, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1239, 27],
  pos=[1239, 3],
  norm=[1239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7434],
  edge_attr=[7434, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1389, 27],
  pos=[1389, 3],
  norm=[1389, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8334],
  edge_attr=[8334, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1293, 27],
  pos=[1293, 3],
  norm=[1293, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7758],
  edge_attr=[7758, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1364, 27],
  pos=[1364, 3],
  norm=[1364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8184],
  edge_attr=[8184, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1331, 27],
  pos=[1331, 3],
  norm=[1331, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7986],
  edge_attr=[7986, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1495, 27],
  pos=[1495, 3],
  norm=[1495, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8970],
  edge_attr=[8970, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1387, 27],
  pos=[1387, 3],
  norm=[1387, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8322],
  edge_attr=[8322, 3]
)

---Updating memory of learning_module_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1506, 27],
  pos=[1506, 3],
  norm=[1506, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9036],
  edge_attr=[9036, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1475, 27],
  pos=[1475, 3],
  norm=[1475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8850],
  edge_attr=[8850, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1422, 27],
  pos=[1422, 3],
  norm=[1422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8532],
  edge_attr=[8532, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'e_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: e_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1613, 27],
  pos=[1613, 3],
  norm=[1613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9678],
  edge_attr=[9678, 3]
)

---Updating memory of learning_module_1---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo 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_2---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1628, 27],
  pos=[1628, 3],
  norm=[1628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9768],
  edge_attr=[9768, 3]
)

---Updating memory of learning_module_3---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1591, 27],
  pos=[1591, 3],
  norm=[1591, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9546],
  edge_attr=[9546, 3]
)

---Updating memory of learning_module_4---
e_lego_duplo already in memory (['e_lego_duplo'])
Updating existing graph for e_lego_duplo
building graph
Extended graph e_lego_duplo with new points. New model:
Data(
  x=[1531, 27],
  pos=[1531, 3],
  norm=[1531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9186],
  edge_attr=[9186, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_e_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box not in memory ([])
Adding a new graph to memory.
init object model with id sugar_box
built graph 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]
)
Added new graph with id sugar_box to memory.

---Updating memory of learning_module_1---
sugar_box not in memory ([])
Adding a new graph to memory.
init object model with id sugar_box
built graph 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]
)
Added new graph with id sugar_box to memory.

---Updating memory of learning_module_2---
sugar_box not in memory ([])
Adding a new graph to memory.
init object model with id sugar_box
built graph 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]
)
Added new graph with id sugar_box to memory.

---Updating memory of learning_module_3---
sugar_box not in memory ([])
Adding a new graph to memory.
init object model with id sugar_box
built graph Data(
  x=[186, 27],
  pos=[186, 3],
  norm=[186, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1116],
  edge_attr=[1116, 3]
)
Added new graph with id sugar_box to memory.

---Updating memory of learning_module_4---
sugar_box not in memory ([])
Adding a new graph to memory.
init object model with id sugar_box
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 sugar_box to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[390, 27],
  pos=[390, 3],
  norm=[390, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2340],
  edge_attr=[2340, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[590, 27],
  pos=[590, 3],
  norm=[590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3540],
  edge_attr=[3540, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[587, 27],
  pos=[587, 3],
  norm=[587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3522],
  edge_attr=[3522, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[610, 27],
  pos=[610, 3],
  norm=[610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3660],
  edge_attr=[3660, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[782, 27],
  pos=[782, 3],
  norm=[782, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4692],
  edge_attr=[4692, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[766, 27],
  pos=[766, 3],
  norm=[766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4596],
  edge_attr=[4596, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[785, 27],
  pos=[785, 3],
  norm=[785, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4710],
  edge_attr=[4710, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[784, 27],
  pos=[784, 3],
  norm=[784, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4704],
  edge_attr=[4704, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[806, 27],
  pos=[806, 3],
  norm=[806, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4836],
  edge_attr=[4836, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[991, 27],
  pos=[991, 3],
  norm=[991, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5946],
  edge_attr=[5946, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[991, 27],
  pos=[991, 3],
  norm=[991, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5946],
  edge_attr=[5946, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1208, 27],
  pos=[1208, 3],
  norm=[1208, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7248],
  edge_attr=[7248, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1178, 27],
  pos=[1178, 3],
  norm=[1178, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7068],
  edge_attr=[7068, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1207, 27],
  pos=[1207, 3],
  norm=[1207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7242],
  edge_attr=[7242, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1168, 27],
  pos=[1168, 3],
  norm=[1168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7008],
  edge_attr=[7008, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1247, 27],
  pos=[1247, 3],
  norm=[1247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7482],
  edge_attr=[7482, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1348, 27],
  pos=[1348, 3],
  norm=[1348, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8088],
  edge_attr=[8088, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1550, 27],
  pos=[1550, 3],
  norm=[1550, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9300],
  edge_attr=[9300, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1515, 27],
  pos=[1515, 3],
  norm=[1515, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9090],
  edge_attr=[9090, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1551, 27],
  pos=[1551, 3],
  norm=[1551, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9306],
  edge_attr=[9306, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1515, 27],
  pos=[1515, 3],
  norm=[1515, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9090],
  edge_attr=[9090, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1584, 27],
  pos=[1584, 3],
  norm=[1584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9504],
  edge_attr=[9504, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1736, 27],
  pos=[1736, 3],
  norm=[1736, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10416],
  edge_attr=[10416, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1706, 27],
  pos=[1706, 3],
  norm=[1706, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10236],
  edge_attr=[10236, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1731, 27],
  pos=[1731, 3],
  norm=[1731, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10386],
  edge_attr=[10386, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1699, 27],
  pos=[1699, 3],
  norm=[1699, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10194],
  edge_attr=[10194, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1901, 27],
  pos=[1901, 3],
  norm=[1901, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11406],
  edge_attr=[11406, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1872, 27],
  pos=[1872, 3],
  norm=[1872, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11232],
  edge_attr=[11232, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1908, 27],
  pos=[1908, 3],
  norm=[1908, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11448],
  edge_attr=[11448, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[1854, 27],
  pos=[1854, 3],
  norm=[1854, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11124],
  edge_attr=[11124, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2062, 27],
  pos=[2062, 3],
  norm=[2062, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12372],
  edge_attr=[12372, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2083, 27],
  pos=[2083, 3],
  norm=[2083, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12498],
  edge_attr=[12498, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2109, 27],
  pos=[2109, 3],
  norm=[2109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12654],
  edge_attr=[12654, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2228, 27],
  pos=[2228, 3],
  norm=[2228, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13368],
  edge_attr=[13368, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2216, 27],
  pos=[2216, 3],
  norm=[2216, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13296],
  edge_attr=[13296, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2241, 27],
  pos=[2241, 3],
  norm=[2241, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13446],
  edge_attr=[13446, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2185, 27],
  pos=[2185, 3],
  norm=[2185, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13110],
  edge_attr=[13110, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2276, 27],
  pos=[2276, 3],
  norm=[2276, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13656],
  edge_attr=[13656, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box 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_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2366, 27],
  pos=[2366, 3],
  norm=[2366, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14196],
  edge_attr=[14196, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2414, 27],
  pos=[2414, 3],
  norm=[2414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14484],
  edge_attr=[14484, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2344, 27],
  pos=[2344, 3],
  norm=[2344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14064],
  edge_attr=[14064, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2430, 27],
  pos=[2430, 3],
  norm=[2430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14580],
  edge_attr=[14580, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'sugar_box',
 '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: sugar_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2549, 27],
  pos=[2549, 3],
  norm=[2549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15294],
  edge_attr=[15294, 3]
)

---Updating memory of learning_module_1---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2531, 27],
  pos=[2531, 3],
  norm=[2531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15186],
  edge_attr=[15186, 3]
)

---Updating memory of learning_module_2---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2576, 27],
  pos=[2576, 3],
  norm=[2576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15456],
  edge_attr=[15456, 3]
)

---Updating memory of learning_module_3---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2516, 27],
  pos=[2516, 3],
  norm=[2516, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15096],
  edge_attr=[15096, 3]
)

---Updating memory of learning_module_4---
sugar_box already in memory (['sugar_box'])
Updating existing graph for sugar_box
building graph
Extended graph sugar_box with new points. New model:
Data(
  x=[2586, 27],
  pos=[2586, 3],
  norm=[2586, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15516],
  edge_attr=[15516, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'sugar_box',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_sugar_box/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id a_colored_wood_blocks
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 a_colored_wood_blocks to memory.

---Updating memory of learning_module_1---
a_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id a_colored_wood_blocks
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 a_colored_wood_blocks to memory.

---Updating memory of learning_module_2---
a_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id a_colored_wood_blocks
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 a_colored_wood_blocks to memory.

---Updating memory of learning_module_3---
a_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id a_colored_wood_blocks
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 a_colored_wood_blocks to memory.

---Updating memory of learning_module_4---
a_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id a_colored_wood_blocks
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 a_colored_wood_blocks to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[642, 27],
  pos=[642, 3],
  norm=[642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3852],
  edge_attr=[3852, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[647, 27],
  pos=[647, 3],
  norm=[647, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3882],
  edge_attr=[3882, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[643, 27],
  pos=[643, 3],
  norm=[643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3858],
  edge_attr=[3858, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[646, 27],
  pos=[646, 3],
  norm=[646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3876],
  edge_attr=[3876, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[864, 27],
  pos=[864, 3],
  norm=[864, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5184],
  edge_attr=[5184, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[860, 27],
  pos=[860, 3],
  norm=[860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5160],
  edge_attr=[5160, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[863, 27],
  pos=[863, 3],
  norm=[863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5178],
  edge_attr=[5178, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1058, 27],
  pos=[1058, 3],
  norm=[1058, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6348],
  edge_attr=[6348, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1056, 27],
  pos=[1056, 3],
  norm=[1056, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6336],
  edge_attr=[6336, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1266, 27],
  pos=[1266, 3],
  norm=[1266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7596],
  edge_attr=[7596, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1236, 27],
  pos=[1236, 3],
  norm=[1236, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7416],
  edge_attr=[7416, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1271, 27],
  pos=[1271, 3],
  norm=[1271, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7626],
  edge_attr=[7626, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1270, 27],
  pos=[1270, 3],
  norm=[1270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7620],
  edge_attr=[7620, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1275, 27],
  pos=[1275, 3],
  norm=[1275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7650],
  edge_attr=[7650, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1417, 27],
  pos=[1417, 3],
  norm=[1417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8502],
  edge_attr=[8502, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1457, 27],
  pos=[1457, 3],
  norm=[1457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8742],
  edge_attr=[8742, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1458, 27],
  pos=[1458, 3],
  norm=[1458, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8748],
  edge_attr=[8748, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1465, 27],
  pos=[1465, 3],
  norm=[1465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8790],
  edge_attr=[8790, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1646, 27],
  pos=[1646, 3],
  norm=[1646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9876],
  edge_attr=[9876, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1609, 27],
  pos=[1609, 3],
  norm=[1609, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9654],
  edge_attr=[9654, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1646, 27],
  pos=[1646, 3],
  norm=[1646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9876],
  edge_attr=[9876, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1647, 27],
  pos=[1647, 3],
  norm=[1647, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9882],
  edge_attr=[9882, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1651, 27],
  pos=[1651, 3],
  norm=[1651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9906],
  edge_attr=[9906, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1836, 27],
  pos=[1836, 3],
  norm=[1836, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11016],
  edge_attr=[11016, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1788, 27],
  pos=[1788, 3],
  norm=[1788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10728],
  edge_attr=[10728, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1839, 27],
  pos=[1839, 3],
  norm=[1839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11034],
  edge_attr=[11034, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1840, 27],
  pos=[1840, 3],
  norm=[1840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11040],
  edge_attr=[11040, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1838, 27],
  pos=[1838, 3],
  norm=[1838, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11028],
  edge_attr=[11028, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2035, 27],
  pos=[2035, 3],
  norm=[2035, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12210],
  edge_attr=[12210, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[1982, 27],
  pos=[1982, 3],
  norm=[1982, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11892],
  edge_attr=[11892, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2034, 27],
  pos=[2034, 3],
  norm=[2034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12204],
  edge_attr=[12204, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2026, 27],
  pos=[2026, 3],
  norm=[2026, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12156],
  edge_attr=[12156, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2030, 27],
  pos=[2030, 3],
  norm=[2030, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12180],
  edge_attr=[12180, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2221, 27],
  pos=[2221, 3],
  norm=[2221, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13326],
  edge_attr=[13326, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks 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_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2218, 27],
  pos=[2218, 3],
  norm=[2218, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13308],
  edge_attr=[13308, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2212, 27],
  pos=[2212, 3],
  norm=[2212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13272],
  edge_attr=[13272, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2216, 27],
  pos=[2216, 3],
  norm=[2216, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13296],
  edge_attr=[13296, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2405, 27],
  pos=[2405, 3],
  norm=[2405, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14430],
  edge_attr=[14430, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2349, 27],
  pos=[2349, 3],
  norm=[2349, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14094],
  edge_attr=[14094, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2401, 27],
  pos=[2401, 3],
  norm=[2401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14406],
  edge_attr=[14406, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2400, 27],
  pos=[2400, 3],
  norm=[2400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14400],
  edge_attr=[14400, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2400, 27],
  pos=[2400, 3],
  norm=[2400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14400],
  edge_attr=[14400, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2602, 27],
  pos=[2602, 3],
  norm=[2602, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15612],
  edge_attr=[15612, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2542, 27],
  pos=[2542, 3],
  norm=[2542, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15252],
  edge_attr=[15252, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2595, 27],
  pos=[2595, 3],
  norm=[2595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15570],
  edge_attr=[15570, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2592, 27],
  pos=[2592, 3],
  norm=[2592, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15552],
  edge_attr=[15552, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2587, 27],
  pos=[2587, 3],
  norm=[2587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15522],
  edge_attr=[15522, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'a_colored_wood_blocks',
 '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: a_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2791, 27],
  pos=[2791, 3],
  norm=[2791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16746],
  edge_attr=[16746, 3]
)

---Updating memory of learning_module_1---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2715, 27],
  pos=[2715, 3],
  norm=[2715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16290],
  edge_attr=[16290, 3]
)

---Updating memory of learning_module_2---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2783, 27],
  pos=[2783, 3],
  norm=[2783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16698],
  edge_attr=[16698, 3]
)

---Updating memory of learning_module_3---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2782, 27],
  pos=[2782, 3],
  norm=[2782, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16692],
  edge_attr=[16692, 3]
)

---Updating memory of learning_module_4---
a_colored_wood_blocks already in memory (['a_colored_wood_blocks'])
Updating existing graph for a_colored_wood_blocks
building graph
Extended graph a_colored_wood_blocks with new points. New model:
Data(
  x=[2770, 27],
  pos=[2770, 3],
  norm=[2770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16620],
  edge_attr=[16620, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_colored_wood_blocks',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_a_colored_wood_blocks/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups not in memory ([])
Adding a new graph to memory.
init object model with id c_cups
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id c_cups to memory.

---Updating memory of learning_module_1---
c_cups not in memory ([])
Adding a new graph to memory.
init object model with id c_cups
built graph Data(
  x=[176, 27],
  pos=[176, 3],
  norm=[176, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1056],
  edge_attr=[1056, 3]
)
Added new graph with id c_cups to memory.

---Updating memory of learning_module_2---
c_cups not in memory ([])
Adding a new graph to memory.
init object model with id c_cups
built graph 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]
)
Added new graph with id c_cups to memory.

---Updating memory of learning_module_3---
c_cups not in memory ([])
Adding a new graph to memory.
init object model with id c_cups
built graph 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]
)
Added new graph with id c_cups to memory.

---Updating memory of learning_module_4---
c_cups not in memory ([])
Adding a new graph to memory.
init object model with id c_cups
built graph Data(
  x=[194, 27],
  pos=[194, 3],
  norm=[194, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1164],
  edge_attr=[1164, 3]
)
Added new graph with id c_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[351, 27],
  pos=[351, 3],
  norm=[351, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2106],
  edge_attr=[2106, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[388, 27],
  pos=[388, 3],
  norm=[388, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2328],
  edge_attr=[2328, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[577, 27],
  pos=[577, 3],
  norm=[577, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3462],
  edge_attr=[3462, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[527, 27],
  pos=[527, 3],
  norm=[527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3162],
  edge_attr=[3162, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[768, 27],
  pos=[768, 3],
  norm=[768, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4608],
  edge_attr=[4608, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[703, 27],
  pos=[703, 3],
  norm=[703, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4218],
  edge_attr=[4218, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[688, 27],
  pos=[688, 3],
  norm=[688, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4128],
  edge_attr=[4128, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[774, 27],
  pos=[774, 3],
  norm=[774, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4644],
  edge_attr=[4644, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[775, 27],
  pos=[775, 3],
  norm=[775, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4650],
  edge_attr=[4650, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[981, 27],
  pos=[981, 3],
  norm=[981, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5886],
  edge_attr=[5886, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[892, 27],
  pos=[892, 3],
  norm=[892, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5352],
  edge_attr=[5352, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[976, 27],
  pos=[976, 3],
  norm=[976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5856],
  edge_attr=[5856, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[977, 27],
  pos=[977, 3],
  norm=[977, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5862],
  edge_attr=[5862, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1201, 27],
  pos=[1201, 3],
  norm=[1201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7206],
  edge_attr=[7206, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1096, 27],
  pos=[1096, 3],
  norm=[1096, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6576],
  edge_attr=[6576, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1175, 27],
  pos=[1175, 3],
  norm=[1175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7050],
  edge_attr=[7050, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1176, 27],
  pos=[1176, 3],
  norm=[1176, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7056],
  edge_attr=[7056, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1302, 27],
  pos=[1302, 3],
  norm=[1302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7812],
  edge_attr=[7812, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1179, 27],
  pos=[1179, 3],
  norm=[1179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7074],
  edge_attr=[7074, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1270, 27],
  pos=[1270, 3],
  norm=[1270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7620],
  edge_attr=[7620, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1281, 27],
  pos=[1281, 3],
  norm=[1281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7686],
  edge_attr=[7686, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1435, 27],
  pos=[1435, 3],
  norm=[1435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8610],
  edge_attr=[8610, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1309, 27],
  pos=[1309, 3],
  norm=[1309, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7854],
  edge_attr=[7854, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1333, 27],
  pos=[1333, 3],
  norm=[1333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7998],
  edge_attr=[7998, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1399, 27],
  pos=[1399, 3],
  norm=[1399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8394],
  edge_attr=[8394, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1421, 27],
  pos=[1421, 3],
  norm=[1421, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8526],
  edge_attr=[8526, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1531, 27],
  pos=[1531, 3],
  norm=[1531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9186],
  edge_attr=[9186, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1448, 27],
  pos=[1448, 3],
  norm=[1448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8688],
  edge_attr=[8688, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1505, 27],
  pos=[1505, 3],
  norm=[1505, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9030],
  edge_attr=[9030, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1516, 27],
  pos=[1516, 3],
  norm=[1516, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9096],
  edge_attr=[9096, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1673, 27],
  pos=[1673, 3],
  norm=[1673, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10038],
  edge_attr=[10038, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1527, 27],
  pos=[1527, 3],
  norm=[1527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9162],
  edge_attr=[9162, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1575, 27],
  pos=[1575, 3],
  norm=[1575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9450],
  edge_attr=[9450, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1642, 27],
  pos=[1642, 3],
  norm=[1642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9852],
  edge_attr=[9852, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1651, 27],
  pos=[1651, 3],
  norm=[1651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9906],
  edge_attr=[9906, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1822, 27],
  pos=[1822, 3],
  norm=[1822, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10932],
  edge_attr=[10932, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1669, 27],
  pos=[1669, 3],
  norm=[1669, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10014],
  edge_attr=[10014, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1707, 27],
  pos=[1707, 3],
  norm=[1707, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10242],
  edge_attr=[10242, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1794, 27],
  pos=[1794, 3],
  norm=[1794, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10764],
  edge_attr=[10764, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1795, 27],
  pos=[1795, 3],
  norm=[1795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10770],
  edge_attr=[10770, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1744, 27],
  pos=[1744, 3],
  norm=[1744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10464],
  edge_attr=[10464, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1807, 27],
  pos=[1807, 3],
  norm=[1807, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10842],
  edge_attr=[10842, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1884, 27],
  pos=[1884, 3],
  norm=[1884, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11304],
  edge_attr=[11304, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1867, 27],
  pos=[1867, 3],
  norm=[1867, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11202],
  edge_attr=[11202, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2056, 27],
  pos=[2056, 3],
  norm=[2056, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12336],
  edge_attr=[12336, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1885, 27],
  pos=[1885, 3],
  norm=[1885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11310],
  edge_attr=[11310, 3]
)

---Updating memory of learning_module_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[1938, 27],
  pos=[1938, 3],
  norm=[1938, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11628],
  edge_attr=[11628, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2028, 27],
  pos=[2028, 3],
  norm=[2028, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12168],
  edge_attr=[12168, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2021, 27],
  pos=[2021, 3],
  norm=[2021, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12126],
  edge_attr=[12126, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'c_cups',
 '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_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_1---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups 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_2---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2036, 27],
  pos=[2036, 3],
  norm=[2036, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12216],
  edge_attr=[12216, 3]
)

---Updating memory of learning_module_3---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2102, 27],
  pos=[2102, 3],
  norm=[2102, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12612],
  edge_attr=[12612, 3]
)

---Updating memory of learning_module_4---
c_cups already in memory (['c_cups'])
Updating existing graph for c_cups
building graph
Extended graph c_cups with new points. New model:
Data(
  x=[2114, 27],
  pos=[2114, 3],
  norm=[2114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12684],
  edge_attr=[12684, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_c_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear not in memory ([])
Adding a new graph to memory.
init object model with id pear
built graph 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]
)
Added new graph with id pear to memory.

---Updating memory of learning_module_1---
pear not in memory ([])
Adding a new graph to memory.
init object model with id pear
built graph 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]
)
Added new graph with id pear to memory.

---Updating memory of learning_module_2---
pear not in memory ([])
Adding a new graph to memory.
init object model with id pear
built graph Data(
  x=[112, 27],
  pos=[112, 3],
  norm=[112, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 672],
  edge_attr=[672, 3]
)
Added new graph with id pear to memory.

---Updating memory of learning_module_3---
pear not in memory ([])
Adding a new graph to memory.
init object model with id pear
built graph Data(
  x=[117, 27],
  pos=[117, 3],
  norm=[117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 702],
  edge_attr=[702, 3]
)
Added new graph with id pear to memory.

---Updating memory of learning_module_4---
pear not in memory ([])
Adding a new graph to memory.
init object model with id pear
built graph Data(
  x=[117, 27],
  pos=[117, 3],
  norm=[117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 702],
  edge_attr=[702, 3]
)
Added new graph with id pear to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[272, 27],
  pos=[272, 3],
  norm=[272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1632],
  edge_attr=[1632, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[270, 27],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1620],
  edge_attr=[1620, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[272, 27],
  pos=[272, 3],
  norm=[272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1632],
  edge_attr=[1632, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[265, 27],
  pos=[265, 3],
  norm=[265, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1590],
  edge_attr=[1590, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[355, 27],
  pos=[355, 3],
  norm=[355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2130],
  edge_attr=[2130, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[354, 27],
  pos=[354, 3],
  norm=[354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2124],
  edge_attr=[2124, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[352, 27],
  pos=[352, 3],
  norm=[352, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2112],
  edge_attr=[2112, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[528, 27],
  pos=[528, 3],
  norm=[528, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3168],
  edge_attr=[3168, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[530, 27],
  pos=[530, 3],
  norm=[530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3180],
  edge_attr=[3180, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[520, 27],
  pos=[520, 3],
  norm=[520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3120],
  edge_attr=[3120, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[517, 27],
  pos=[517, 3],
  norm=[517, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3102],
  edge_attr=[3102, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[677, 27],
  pos=[677, 3],
  norm=[677, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4062],
  edge_attr=[4062, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[667, 27],
  pos=[667, 3],
  norm=[667, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4002],
  edge_attr=[4002, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[876, 27],
  pos=[876, 3],
  norm=[876, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5256],
  edge_attr=[5256, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1008, 27],
  pos=[1008, 3],
  norm=[1008, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6048],
  edge_attr=[6048, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[963, 27],
  pos=[963, 3],
  norm=[963, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5778],
  edge_attr=[5778, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1002, 27],
  pos=[1002, 3],
  norm=[1002, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6012],
  edge_attr=[6012, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[984, 27],
  pos=[984, 3],
  norm=[984, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5904],
  edge_attr=[5904, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1121, 27],
  pos=[1121, 3],
  norm=[1121, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6726],
  edge_attr=[6726, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1113, 27],
  pos=[1113, 3],
  norm=[1113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6678],
  edge_attr=[6678, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1125, 27],
  pos=[1125, 3],
  norm=[1125, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6750],
  edge_attr=[6750, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1096, 27],
  pos=[1096, 3],
  norm=[1096, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6576],
  edge_attr=[6576, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1195, 27],
  pos=[1195, 3],
  norm=[1195, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7170],
  edge_attr=[7170, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1243, 27],
  pos=[1243, 3],
  norm=[1243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7458],
  edge_attr=[7458, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1228, 27],
  pos=[1228, 3],
  norm=[1228, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7368],
  edge_attr=[7368, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1368, 27],
  pos=[1368, 3],
  norm=[1368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8208],
  edge_attr=[8208, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1365, 27],
  pos=[1365, 3],
  norm=[1365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8190],
  edge_attr=[8190, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1362, 27],
  pos=[1362, 3],
  norm=[1362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8172],
  edge_attr=[8172, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1357, 27],
  pos=[1357, 3],
  norm=[1357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8142],
  edge_attr=[8142, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1499, 27],
  pos=[1499, 3],
  norm=[1499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8994],
  edge_attr=[8994, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1477, 27],
  pos=[1477, 3],
  norm=[1477, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8862],
  edge_attr=[8862, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1497, 27],
  pos=[1497, 3],
  norm=[1497, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8982],
  edge_attr=[8982, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1657, 27],
  pos=[1657, 3],
  norm=[1657, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9942],
  edge_attr=[9942, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1575, 27],
  pos=[1575, 3],
  norm=[1575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9450],
  edge_attr=[9450, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear 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_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1628, 27],
  pos=[1628, 3],
  norm=[1628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9768],
  edge_attr=[9768, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1659, 27],
  pos=[1659, 3],
  norm=[1659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9954],
  edge_attr=[9954, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1762, 27],
  pos=[1762, 3],
  norm=[1762, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10572],
  edge_attr=[10572, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1679, 27],
  pos=[1679, 3],
  norm=[1679, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10074],
  edge_attr=[10074, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1768, 27],
  pos=[1768, 3],
  norm=[1768, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10608],
  edge_attr=[10608, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1742, 27],
  pos=[1742, 3],
  norm=[1742, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10452],
  edge_attr=[10452, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1754, 27],
  pos=[1754, 3],
  norm=[1754, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10524],
  edge_attr=[10524, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'pear',
 '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: pear
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1884, 27],
  pos=[1884, 3],
  norm=[1884, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11304],
  edge_attr=[11304, 3]
)

---Updating memory of learning_module_1---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1779, 27],
  pos=[1779, 3],
  norm=[1779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10674],
  edge_attr=[10674, 3]
)

---Updating memory of learning_module_2---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1893, 27],
  pos=[1893, 3],
  norm=[1893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11358],
  edge_attr=[11358, 3]
)

---Updating memory of learning_module_3---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1859, 27],
  pos=[1859, 3],
  norm=[1859, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11154],
  edge_attr=[11154, 3]
)

---Updating memory of learning_module_4---
pear already in memory (['pear'])
Updating existing graph for pear
building graph
Extended graph pear with new points. New model:
Data(
  x=[1879, 27],
  pos=[1879, 3],
  norm=[1879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11274],
  edge_attr=[11274, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'pear',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_pear/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups not in memory ([])
Adding a new graph to memory.
init object model with id f_cups
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 f_cups to memory.

---Updating memory of learning_module_1---
f_cups not in memory ([])
Adding a new graph to memory.
init object model with id f_cups
built graph 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]
)
Added new graph with id f_cups to memory.

---Updating memory of learning_module_2---
f_cups not in memory ([])
Adding a new graph to memory.
init object model with id f_cups
built graph 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]
)
Added new graph with id f_cups to memory.

---Updating memory of learning_module_3---
f_cups not in memory ([])
Adding a new graph to memory.
init object model with id f_cups
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 f_cups to memory.

---Updating memory of learning_module_4---
f_cups not in memory ([])
Adding a new graph to memory.
init object model with id f_cups
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 f_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[374, 27],
  pos=[374, 3],
  norm=[374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2244],
  edge_attr=[2244, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[369, 27],
  pos=[369, 3],
  norm=[369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2214],
  edge_attr=[2214, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[610, 27],
  pos=[610, 3],
  norm=[610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3660],
  edge_attr=[3660, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[559, 27],
  pos=[559, 3],
  norm=[559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3354],
  edge_attr=[3354, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[638, 27],
  pos=[638, 3],
  norm=[638, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3828],
  edge_attr=[3828, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[634, 27],
  pos=[634, 3],
  norm=[634, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3804],
  edge_attr=[3804, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[811, 27],
  pos=[811, 3],
  norm=[811, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4866],
  edge_attr=[4866, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[734, 27],
  pos=[734, 3],
  norm=[734, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4404],
  edge_attr=[4404, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[953, 27],
  pos=[953, 3],
  norm=[953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5718],
  edge_attr=[5718, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1054, 27],
  pos=[1054, 3],
  norm=[1054, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6324],
  edge_attr=[6324, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1257, 27],
  pos=[1257, 3],
  norm=[1257, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7542],
  edge_attr=[7542, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1165, 27],
  pos=[1165, 3],
  norm=[1165, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6990],
  edge_attr=[6990, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1267, 27],
  pos=[1267, 3],
  norm=[1267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7602],
  edge_attr=[7602, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1262, 27],
  pos=[1262, 3],
  norm=[1262, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7572],
  edge_attr=[7572, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1371, 27],
  pos=[1371, 3],
  norm=[1371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8226],
  edge_attr=[8226, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1268, 27],
  pos=[1268, 3],
  norm=[1268, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7608],
  edge_attr=[7608, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1283, 27],
  pos=[1283, 3],
  norm=[1283, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7698],
  edge_attr=[7698, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1372, 27],
  pos=[1372, 3],
  norm=[1372, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8232],
  edge_attr=[8232, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1516, 27],
  pos=[1516, 3],
  norm=[1516, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9096],
  edge_attr=[9096, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1419, 27],
  pos=[1419, 3],
  norm=[1419, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8514],
  edge_attr=[8514, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1421, 27],
  pos=[1421, 3],
  norm=[1421, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8526],
  edge_attr=[8526, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1529, 27],
  pos=[1529, 3],
  norm=[1529, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9174],
  edge_attr=[9174, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1627, 27],
  pos=[1627, 3],
  norm=[1627, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9762],
  edge_attr=[9762, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1523, 27],
  pos=[1523, 3],
  norm=[1523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9138],
  edge_attr=[9138, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1538, 27],
  pos=[1538, 3],
  norm=[1538, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9228],
  edge_attr=[9228, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1640, 27],
  pos=[1640, 3],
  norm=[1640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9840],
  edge_attr=[9840, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1769, 27],
  pos=[1769, 3],
  norm=[1769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10614],
  edge_attr=[10614, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1679, 27],
  pos=[1679, 3],
  norm=[1679, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10074],
  edge_attr=[10074, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1800, 27],
  pos=[1800, 3],
  norm=[1800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10800],
  edge_attr=[10800, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1928, 27],
  pos=[1928, 3],
  norm=[1928, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11568],
  edge_attr=[11568, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1842, 27],
  pos=[1842, 3],
  norm=[1842, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11052],
  edge_attr=[11052, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1820, 27],
  pos=[1820, 3],
  norm=[1820, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10920],
  edge_attr=[10920, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1964, 27],
  pos=[1964, 3],
  norm=[1964, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11784],
  edge_attr=[11784, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1935, 27],
  pos=[1935, 3],
  norm=[1935, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11610],
  edge_attr=[11610, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2024, 27],
  pos=[2024, 3],
  norm=[2024, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12144],
  edge_attr=[12144, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1938, 27],
  pos=[1938, 3],
  norm=[1938, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11628],
  edge_attr=[11628, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[1930, 27],
  pos=[1930, 3],
  norm=[1930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11580],
  edge_attr=[11580, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2034, 27],
  pos=[2034, 3],
  norm=[2034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12204],
  edge_attr=[12204, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2179, 27],
  pos=[2179, 3],
  norm=[2179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13074],
  edge_attr=[13074, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2104, 27],
  pos=[2104, 3],
  norm=[2104, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12624],
  edge_attr=[12624, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2071, 27],
  pos=[2071, 3],
  norm=[2071, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12426],
  edge_attr=[12426, 3]
)

---Updating memory of learning_module_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2216, 27],
  pos=[2216, 3],
  norm=[2216, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13296],
  edge_attr=[13296, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2200, 27],
  pos=[2200, 3],
  norm=[2200, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13200],
  edge_attr=[13200, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'f_cups',
 '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: f_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2278, 27],
  pos=[2278, 3],
  norm=[2278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13668],
  edge_attr=[13668, 3]
)

---Updating memory of learning_module_1---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2198, 27],
  pos=[2198, 3],
  norm=[2198, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13188],
  edge_attr=[13188, 3]
)

---Updating memory of learning_module_2---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups 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_3---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2313, 27],
  pos=[2313, 3],
  norm=[2313, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13878],
  edge_attr=[13878, 3]
)

---Updating memory of learning_module_4---
f_cups already in memory (['f_cups'])
Updating existing graph for f_cups
building graph
Extended graph f_cups with new points. New model:
Data(
  x=[2303, 27],
  pos=[2303, 3],
  norm=[2303, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13818],
  edge_attr=[13818, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'f_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_f_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block not in memory ([])
Adding a new graph to memory.
init object model with id wood_block
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 wood_block to memory.

---Updating memory of learning_module_1---
wood_block not in memory ([])
Adding a new graph to memory.
init object model with id wood_block
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 wood_block to memory.

---Updating memory of learning_module_2---
wood_block not in memory ([])
Adding a new graph to memory.
init object model with id wood_block
built graph 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]
)
Added new graph with id wood_block to memory.

---Updating memory of learning_module_3---
wood_block not in memory ([])
Adding a new graph to memory.
init object model with id wood_block
built graph 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]
)
Added new graph with id wood_block to memory.

---Updating memory of learning_module_4---
wood_block not in memory ([])
Adding a new graph to memory.
init object model with id wood_block
built graph 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]
)
Added new graph with id wood_block to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[836, 27],
  pos=[836, 3],
  norm=[836, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5016],
  edge_attr=[5016, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1040, 27],
  pos=[1040, 3],
  norm=[1040, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6240],
  edge_attr=[6240, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1034, 27],
  pos=[1034, 3],
  norm=[1034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6204],
  edge_attr=[6204, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[990, 27],
  pos=[990, 3],
  norm=[990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5940],
  edge_attr=[5940, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1248, 27],
  pos=[1248, 3],
  norm=[1248, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7488],
  edge_attr=[7488, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1242, 27],
  pos=[1242, 3],
  norm=[1242, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7452],
  edge_attr=[7452, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1249, 27],
  pos=[1249, 3],
  norm=[1249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7494],
  edge_attr=[7494, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1193, 27],
  pos=[1193, 3],
  norm=[1193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7158],
  edge_attr=[7158, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1424, 27],
  pos=[1424, 3],
  norm=[1424, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8544],
  edge_attr=[8544, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1422, 27],
  pos=[1422, 3],
  norm=[1422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8532],
  edge_attr=[8532, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1370, 27],
  pos=[1370, 3],
  norm=[1370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8220],
  edge_attr=[8220, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1590, 27],
  pos=[1590, 3],
  norm=[1590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9540],
  edge_attr=[9540, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1583, 27],
  pos=[1583, 3],
  norm=[1583, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9498],
  edge_attr=[9498, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1593, 27],
  pos=[1593, 3],
  norm=[1593, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9558],
  edge_attr=[9558, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1549, 27],
  pos=[1549, 3],
  norm=[1549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9294],
  edge_attr=[9294, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1531, 27],
  pos=[1531, 3],
  norm=[1531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9186],
  edge_attr=[9186, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1767, 27],
  pos=[1767, 3],
  norm=[1767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10602],
  edge_attr=[10602, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1776, 27],
  pos=[1776, 3],
  norm=[1776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10656],
  edge_attr=[10656, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1767, 27],
  pos=[1767, 3],
  norm=[1767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10602],
  edge_attr=[10602, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1726, 27],
  pos=[1726, 3],
  norm=[1726, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10356],
  edge_attr=[10356, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1950, 27],
  pos=[1950, 3],
  norm=[1950, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11700],
  edge_attr=[11700, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[1906, 27],
  pos=[1906, 3],
  norm=[1906, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11436],
  edge_attr=[11436, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block 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]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2124, 27],
  pos=[2124, 3],
  norm=[2124, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12744],
  edge_attr=[12744, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2151, 27],
  pos=[2151, 3],
  norm=[2151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12906],
  edge_attr=[12906, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2095, 27],
  pos=[2095, 3],
  norm=[2095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12570],
  edge_attr=[12570, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2099, 27],
  pos=[2099, 3],
  norm=[2099, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12594],
  edge_attr=[12594, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2313, 27],
  pos=[2313, 3],
  norm=[2313, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13878],
  edge_attr=[13878, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2323, 27],
  pos=[2323, 3],
  norm=[2323, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13938],
  edge_attr=[13938, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2333, 27],
  pos=[2333, 3],
  norm=[2333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13998],
  edge_attr=[13998, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2292, 27],
  pos=[2292, 3],
  norm=[2292, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13752],
  edge_attr=[13752, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2291, 27],
  pos=[2291, 3],
  norm=[2291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13746],
  edge_attr=[13746, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2477, 27],
  pos=[2477, 3],
  norm=[2477, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14862],
  edge_attr=[14862, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2485, 27],
  pos=[2485, 3],
  norm=[2485, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14910],
  edge_attr=[14910, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2503, 27],
  pos=[2503, 3],
  norm=[2503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15018],
  edge_attr=[15018, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2467, 27],
  pos=[2467, 3],
  norm=[2467, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14802],
  edge_attr=[14802, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2449, 27],
  pos=[2449, 3],
  norm=[2449, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14694],
  edge_attr=[14694, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'wood_block',
 '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: wood_block
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2644, 27],
  pos=[2644, 3],
  norm=[2644, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15864],
  edge_attr=[15864, 3]
)

---Updating memory of learning_module_1---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2664, 27],
  pos=[2664, 3],
  norm=[2664, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15984],
  edge_attr=[15984, 3]
)

---Updating memory of learning_module_2---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2672, 27],
  pos=[2672, 3],
  norm=[2672, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16032],
  edge_attr=[16032, 3]
)

---Updating memory of learning_module_3---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2648, 27],
  pos=[2648, 3],
  norm=[2648, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15888],
  edge_attr=[15888, 3]
)

---Updating memory of learning_module_4---
wood_block already in memory (['wood_block'])
Updating existing graph for wood_block
building graph
Extended graph wood_block with new points. New model:
Data(
  x=[2619, 27],
  pos=[2619, 3],
  norm=[2619, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15714],
  edge_attr=[15714, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'wood_block',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_wood_block/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id d_lego_duplo
built graph Data(
  x=[142, 27],
  pos=[142, 3],
  norm=[142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 852],
  edge_attr=[852, 3]
)
Added new graph with id d_lego_duplo to memory.

---Updating memory of learning_module_1---
d_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id d_lego_duplo
built graph 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]
)
Added new graph with id d_lego_duplo to memory.

---Updating memory of learning_module_2---
d_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id d_lego_duplo
built graph Data(
  x=[135, 27],
  pos=[135, 3],
  norm=[135, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 810],
  edge_attr=[810, 3]
)
Added new graph with id d_lego_duplo to memory.

---Updating memory of learning_module_3---
d_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id d_lego_duplo
built graph Data(
  x=[143, 27],
  pos=[143, 3],
  norm=[143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 858],
  edge_attr=[858, 3]
)
Added new graph with id d_lego_duplo to memory.

---Updating memory of learning_module_4---
d_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id d_lego_duplo
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id d_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[244, 27],
  pos=[244, 3],
  norm=[244, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1464],
  edge_attr=[1464, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[270, 27],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1620],
  edge_attr=[1620, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[374, 27],
  pos=[374, 3],
  norm=[374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2244],
  edge_attr=[2244, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[346, 27],
  pos=[346, 3],
  norm=[346, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2076],
  edge_attr=[2076, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[382, 27],
  pos=[382, 3],
  norm=[382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2292],
  edge_attr=[2292, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[512, 27],
  pos=[512, 3],
  norm=[512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3072],
  edge_attr=[3072, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[470, 27],
  pos=[470, 3],
  norm=[470, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2820],
  edge_attr=[2820, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[489, 27],
  pos=[489, 3],
  norm=[489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2934],
  edge_attr=[2934, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[530, 27],
  pos=[530, 3],
  norm=[530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3180],
  edge_attr=[3180, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[537, 27],
  pos=[537, 3],
  norm=[537, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3222],
  edge_attr=[3222, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[650, 27],
  pos=[650, 3],
  norm=[650, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3900],
  edge_attr=[3900, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[753, 27],
  pos=[753, 3],
  norm=[753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4518],
  edge_attr=[4518, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[808, 27],
  pos=[808, 3],
  norm=[808, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4848],
  edge_attr=[4848, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[812, 27],
  pos=[812, 3],
  norm=[812, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4872],
  edge_attr=[4872, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[889, 27],
  pos=[889, 3],
  norm=[889, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5334],
  edge_attr=[5334, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[811, 27],
  pos=[811, 3],
  norm=[811, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4866],
  edge_attr=[4866, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[845, 27],
  pos=[845, 3],
  norm=[845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5070],
  edge_attr=[5070, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[893, 27],
  pos=[893, 3],
  norm=[893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5358],
  edge_attr=[5358, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[964, 27],
  pos=[964, 3],
  norm=[964, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5784],
  edge_attr=[5784, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_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_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[976, 27],
  pos=[976, 3],
  norm=[976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5856],
  edge_attr=[5856, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[962, 27],
  pos=[962, 3],
  norm=[962, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5772],
  edge_attr=[5772, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[962, 27],
  pos=[962, 3],
  norm=[962, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5772],
  edge_attr=[5772, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1005, 27],
  pos=[1005, 3],
  norm=[1005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6030],
  edge_attr=[6030, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1048, 27],
  pos=[1048, 3],
  norm=[1048, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6288],
  edge_attr=[6288, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1087, 27],
  pos=[1087, 3],
  norm=[1087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6522],
  edge_attr=[6522, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1031, 27],
  pos=[1031, 3],
  norm=[1031, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6186],
  edge_attr=[6186, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_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_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1141, 27],
  pos=[1141, 3],
  norm=[1141, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6846],
  edge_attr=[6846, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1091, 27],
  pos=[1091, 3],
  norm=[1091, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6546],
  edge_attr=[6546, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1117, 27],
  pos=[1117, 3],
  norm=[1117, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6702],
  edge_attr=[6702, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1158, 27],
  pos=[1158, 3],
  norm=[1158, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6948],
  edge_attr=[6948, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1180, 27],
  pos=[1180, 3],
  norm=[1180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7080],
  edge_attr=[7080, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1154, 27],
  pos=[1154, 3],
  norm=[1154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6924],
  edge_attr=[6924, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_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]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1267, 27],
  pos=[1267, 3],
  norm=[1267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7602],
  edge_attr=[7602, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1315, 27],
  pos=[1315, 3],
  norm=[1315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7890],
  edge_attr=[7890, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1253, 27],
  pos=[1253, 3],
  norm=[1253, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7518],
  edge_attr=[7518, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1310, 27],
  pos=[1310, 3],
  norm=[1310, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7860],
  edge_attr=[7860, 3]
)

---Updating memory of learning_module_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1367, 27],
  pos=[1367, 3],
  norm=[1367, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8202],
  edge_attr=[8202, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'd_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: d_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1384, 27],
  pos=[1384, 3],
  norm=[1384, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8304],
  edge_attr=[8304, 3]
)

---Updating memory of learning_module_1---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1330, 27],
  pos=[1330, 3],
  norm=[1330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7980],
  edge_attr=[7980, 3]
)

---Updating memory of learning_module_2---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo 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_3---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1390, 27],
  pos=[1390, 3],
  norm=[1390, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8340],
  edge_attr=[8340, 3]
)

---Updating memory of learning_module_4---
d_lego_duplo already in memory (['d_lego_duplo'])
Updating existing graph for d_lego_duplo
building graph
Extended graph d_lego_duplo with new points. New model:
Data(
  x=[1445, 27],
  pos=[1445, 3],
  norm=[1445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8670],
  edge_attr=[8670, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_d_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id b_toy_airplane
built graph 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]
)
Added new graph with id b_toy_airplane to memory.

---Updating memory of learning_module_1---
b_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id b_toy_airplane
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 b_toy_airplane to memory.

---Updating memory of learning_module_2---
b_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id b_toy_airplane
built graph 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]
)
Added new graph with id b_toy_airplane to memory.

---Updating memory of learning_module_3---
b_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id b_toy_airplane
built graph Data(
  x=[68, 27],
  pos=[68, 3],
  norm=[68, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 408],
  edge_attr=[408, 3]
)
Added new graph with id b_toy_airplane to memory.

---Updating memory of learning_module_4---
b_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id b_toy_airplane
built graph 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]
)
Added new graph with id b_toy_airplane to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[351, 27],
  pos=[351, 3],
  norm=[351, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2106],
  edge_attr=[2106, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[456, 27],
  pos=[456, 3],
  norm=[456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2736],
  edge_attr=[2736, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[478, 27],
  pos=[478, 3],
  norm=[478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2868],
  edge_attr=[2868, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[652, 27],
  pos=[652, 3],
  norm=[652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3912],
  edge_attr=[3912, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[640, 27],
  pos=[640, 3],
  norm=[640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3840],
  edge_attr=[3840, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[642, 27],
  pos=[642, 3],
  norm=[642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3852],
  edge_attr=[3852, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[860, 27],
  pos=[860, 3],
  norm=[860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5160],
  edge_attr=[5160, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[840, 27],
  pos=[840, 3],
  norm=[840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5040],
  edge_attr=[5040, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[963, 27],
  pos=[963, 3],
  norm=[963, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5778],
  edge_attr=[5778, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[944, 27],
  pos=[944, 3],
  norm=[944, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5664],
  edge_attr=[5664, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[976, 27],
  pos=[976, 3],
  norm=[976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5856],
  edge_attr=[5856, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[949, 27],
  pos=[949, 3],
  norm=[949, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5694],
  edge_attr=[5694, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1074, 27],
  pos=[1074, 3],
  norm=[1074, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6444],
  edge_attr=[6444, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1061, 27],
  pos=[1061, 3],
  norm=[1061, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6366],
  edge_attr=[6366, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1072, 27],
  pos=[1072, 3],
  norm=[1072, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6432],
  edge_attr=[6432, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1217, 27],
  pos=[1217, 3],
  norm=[1217, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7302],
  edge_attr=[7302, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1194, 27],
  pos=[1194, 3],
  norm=[1194, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7164],
  edge_attr=[7164, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1249, 27],
  pos=[1249, 3],
  norm=[1249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7494],
  edge_attr=[7494, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1184, 27],
  pos=[1184, 3],
  norm=[1184, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7104],
  edge_attr=[7104, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1357, 27],
  pos=[1357, 3],
  norm=[1357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8142],
  edge_attr=[8142, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1332, 27],
  pos=[1332, 3],
  norm=[1332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7992],
  edge_attr=[7992, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1356, 27],
  pos=[1356, 3],
  norm=[1356, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8136],
  edge_attr=[8136, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1374, 27],
  pos=[1374, 3],
  norm=[1374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8244],
  edge_attr=[8244, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1328, 27],
  pos=[1328, 3],
  norm=[1328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7968],
  edge_attr=[7968, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane 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_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1447, 27],
  pos=[1447, 3],
  norm=[1447, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8682],
  edge_attr=[8682, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1462, 27],
  pos=[1462, 3],
  norm=[1462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8772],
  edge_attr=[8772, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1431, 27],
  pos=[1431, 3],
  norm=[1431, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8586],
  edge_attr=[8586, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1566, 27],
  pos=[1566, 3],
  norm=[1566, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9396],
  edge_attr=[9396, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1538, 27],
  pos=[1538, 3],
  norm=[1538, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9228],
  edge_attr=[9228, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1572, 27],
  pos=[1572, 3],
  norm=[1572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9432],
  edge_attr=[9432, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1562, 27],
  pos=[1562, 3],
  norm=[1562, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9372],
  edge_attr=[9372, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1546, 27],
  pos=[1546, 3],
  norm=[1546, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9276],
  edge_attr=[9276, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1749, 27],
  pos=[1749, 3],
  norm=[1749, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10494],
  edge_attr=[10494, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1720, 27],
  pos=[1720, 3],
  norm=[1720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10320],
  edge_attr=[10320, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1747, 27],
  pos=[1747, 3],
  norm=[1747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10482],
  edge_attr=[10482, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1743, 27],
  pos=[1743, 3],
  norm=[1743, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10458],
  edge_attr=[10458, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1715, 27],
  pos=[1715, 3],
  norm=[1715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10290],
  edge_attr=[10290, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'b_toy_airplane',
 '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: b_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1916, 27],
  pos=[1916, 3],
  norm=[1916, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11496],
  edge_attr=[11496, 3]
)

---Updating memory of learning_module_1---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1863, 27],
  pos=[1863, 3],
  norm=[1863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11178],
  edge_attr=[11178, 3]
)

---Updating memory of learning_module_2---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1934, 27],
  pos=[1934, 3],
  norm=[1934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11604],
  edge_attr=[11604, 3]
)

---Updating memory of learning_module_3---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1910, 27],
  pos=[1910, 3],
  norm=[1910, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11460],
  edge_attr=[11460, 3]
)

---Updating memory of learning_module_4---
b_toy_airplane already in memory (['b_toy_airplane'])
Updating existing graph for b_toy_airplane
building graph
Extended graph b_toy_airplane with new points. New model:
Data(
  x=[1876, 27],
  pos=[1876, 3],
  norm=[1876, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11256],
  edge_attr=[11256, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_toy_airplane',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_b_toy_airplane/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id b_colored_wood_blocks
built graph Data(
  x=[92, 27],
  pos=[92, 3],
  norm=[92, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 552],
  edge_attr=[552, 3]
)
Added new graph with id b_colored_wood_blocks to memory.

---Updating memory of learning_module_1---
b_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id b_colored_wood_blocks
built graph 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]
)
Added new graph with id b_colored_wood_blocks to memory.

---Updating memory of learning_module_2---
b_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id b_colored_wood_blocks
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id b_colored_wood_blocks to memory.

---Updating memory of learning_module_3---
b_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id b_colored_wood_blocks
built graph Data(
  x=[99, 27],
  pos=[99, 3],
  norm=[99, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 594],
  edge_attr=[594, 3]
)
Added new graph with id b_colored_wood_blocks to memory.

---Updating memory of learning_module_4---
b_colored_wood_blocks not in memory ([])
Adding a new graph to memory.
init object model with id b_colored_wood_blocks
built graph Data(
  x=[99, 27],
  pos=[99, 3],
  norm=[99, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 594],
  edge_attr=[594, 3]
)
Added new graph with id b_colored_wood_blocks to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[171, 27],
  pos=[171, 3],
  norm=[171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1026],
  edge_attr=[1026, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[191, 27],
  pos=[191, 3],
  norm=[191, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1146],
  edge_attr=[1146, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[253, 27],
  pos=[253, 3],
  norm=[253, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1518],
  edge_attr=[1518, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[233, 27],
  pos=[233, 3],
  norm=[233, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1398],
  edge_attr=[1398, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[322, 27],
  pos=[322, 3],
  norm=[322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1932],
  edge_attr=[1932, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[297, 27],
  pos=[297, 3],
  norm=[297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1782],
  edge_attr=[1782, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[369, 27],
  pos=[369, 3],
  norm=[369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2214],
  edge_attr=[2214, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[379, 27],
  pos=[379, 3],
  norm=[379, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2274],
  edge_attr=[2274, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[390, 27],
  pos=[390, 3],
  norm=[390, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2340],
  edge_attr=[2340, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[505, 27],
  pos=[505, 3],
  norm=[505, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3030],
  edge_attr=[3030, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[466, 27],
  pos=[466, 3],
  norm=[466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2796],
  edge_attr=[2796, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[561, 27],
  pos=[561, 3],
  norm=[561, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3366],
  edge_attr=[3366, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[517, 27],
  pos=[517, 3],
  norm=[517, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3102],
  edge_attr=[3102, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[564, 27],
  pos=[564, 3],
  norm=[564, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3384],
  edge_attr=[3384, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[562, 27],
  pos=[562, 3],
  norm=[562, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3372],
  edge_attr=[3372, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[662, 27],
  pos=[662, 3],
  norm=[662, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3972],
  edge_attr=[3972, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[615, 27],
  pos=[615, 3],
  norm=[615, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3690],
  edge_attr=[3690, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[708, 27],
  pos=[708, 3],
  norm=[708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4248],
  edge_attr=[4248, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[651, 27],
  pos=[651, 3],
  norm=[651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3906],
  edge_attr=[3906, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[656, 27],
  pos=[656, 3],
  norm=[656, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3936],
  edge_attr=[3936, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[753, 27],
  pos=[753, 3],
  norm=[753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4518],
  edge_attr=[4518, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[752, 27],
  pos=[752, 3],
  norm=[752, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4512],
  edge_attr=[4512, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[707, 27],
  pos=[707, 3],
  norm=[707, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4242],
  edge_attr=[4242, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[808, 27],
  pos=[808, 3],
  norm=[808, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4848],
  edge_attr=[4848, 3]
)

---Updating memory of learning_module_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[834, 27],
  pos=[834, 3],
  norm=[834, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5004],
  edge_attr=[5004, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[818, 27],
  pos=[818, 3],
  norm=[818, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4908],
  edge_attr=[4908, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[785, 27],
  pos=[785, 3],
  norm=[785, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4710],
  edge_attr=[4710, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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_4---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[869, 27],
  pos=[869, 3],
  norm=[869, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5214],
  edge_attr=[5214, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'b_colored_wood_blocks',
 '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: b_colored_wood_blocks
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[860, 27],
  pos=[860, 3],
  norm=[860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5160],
  edge_attr=[5160, 3]
)

---Updating memory of learning_module_1---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_2---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_3---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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---
b_colored_wood_blocks already in memory (['b_colored_wood_blocks'])
Updating existing graph for b_colored_wood_blocks
building graph
Extended graph b_colored_wood_blocks 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]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'b_colored_wood_blocks',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_b_colored_wood_blocks/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id g_lego_duplo
built graph Data(
  x=[150, 27],
  pos=[150, 3],
  norm=[150, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 900],
  edge_attr=[900, 3]
)
Added new graph with id g_lego_duplo to memory.

---Updating memory of learning_module_1---
g_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id g_lego_duplo
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id g_lego_duplo to memory.

---Updating memory of learning_module_2---
g_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id g_lego_duplo
built graph Data(
  x=[152, 27],
  pos=[152, 3],
  norm=[152, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 912],
  edge_attr=[912, 3]
)
Added new graph with id g_lego_duplo to memory.

---Updating memory of learning_module_3---
g_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id g_lego_duplo
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id g_lego_duplo to memory.

---Updating memory of learning_module_4---
g_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id g_lego_duplo
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id g_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[299, 27],
  pos=[299, 3],
  norm=[299, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1794],
  edge_attr=[1794, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[279, 27],
  pos=[279, 3],
  norm=[279, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1674],
  edge_attr=[1674, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[338, 27],
  pos=[338, 3],
  norm=[338, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2028],
  edge_attr=[2028, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[389, 27],
  pos=[389, 3],
  norm=[389, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2334],
  edge_attr=[2334, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[529, 27],
  pos=[529, 3],
  norm=[529, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3174],
  edge_attr=[3174, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[480, 27],
  pos=[480, 3],
  norm=[480, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2880],
  edge_attr=[2880, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[542, 27],
  pos=[542, 3],
  norm=[542, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3252],
  edge_attr=[3252, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[508, 27],
  pos=[508, 3],
  norm=[508, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3048],
  edge_attr=[3048, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[734, 27],
  pos=[734, 3],
  norm=[734, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4404],
  edge_attr=[4404, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[718, 27],
  pos=[718, 3],
  norm=[718, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4308],
  edge_attr=[4308, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[692, 27],
  pos=[692, 3],
  norm=[692, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4152],
  edge_attr=[4152, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[800, 27],
  pos=[800, 3],
  norm=[800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4800],
  edge_attr=[4800, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[928, 27],
  pos=[928, 3],
  norm=[928, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5568],
  edge_attr=[5568, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1034, 27],
  pos=[1034, 3],
  norm=[1034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6204],
  edge_attr=[6204, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[928, 27],
  pos=[928, 3],
  norm=[928, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5568],
  edge_attr=[5568, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1072, 27],
  pos=[1072, 3],
  norm=[1072, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6432],
  edge_attr=[6432, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1055, 27],
  pos=[1055, 3],
  norm=[1055, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6330],
  edge_attr=[6330, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[994, 27],
  pos=[994, 3],
  norm=[994, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5964],
  edge_attr=[5964, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1202, 27],
  pos=[1202, 3],
  norm=[1202, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7212],
  edge_attr=[7212, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1227, 27],
  pos=[1227, 3],
  norm=[1227, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7362],
  edge_attr=[7362, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1231, 27],
  pos=[1231, 3],
  norm=[1231, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7386],
  edge_attr=[7386, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1334, 27],
  pos=[1334, 3],
  norm=[1334, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8004],
  edge_attr=[8004, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1230, 27],
  pos=[1230, 3],
  norm=[1230, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7380],
  edge_attr=[7380, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1285, 27],
  pos=[1285, 3],
  norm=[1285, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7710],
  edge_attr=[7710, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1493, 27],
  pos=[1493, 3],
  norm=[1493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8958],
  edge_attr=[8958, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1396, 27],
  pos=[1396, 3],
  norm=[1396, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8376],
  edge_attr=[8376, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1508, 27],
  pos=[1508, 3],
  norm=[1508, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9048],
  edge_attr=[9048, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1626, 27],
  pos=[1626, 3],
  norm=[1626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9756],
  edge_attr=[9756, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo 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_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1652, 27],
  pos=[1652, 3],
  norm=[1652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9912],
  edge_attr=[9912, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1635, 27],
  pos=[1635, 3],
  norm=[1635, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9810],
  edge_attr=[9810, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1575, 27],
  pos=[1575, 3],
  norm=[1575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9450],
  edge_attr=[9450, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1748, 27],
  pos=[1748, 3],
  norm=[1748, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10488],
  edge_attr=[10488, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1645, 27],
  pos=[1645, 3],
  norm=[1645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9870],
  edge_attr=[9870, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1757, 27],
  pos=[1757, 3],
  norm=[1757, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10542],
  edge_attr=[10542, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1763, 27],
  pos=[1763, 3],
  norm=[1763, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10578],
  edge_attr=[10578, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1684, 27],
  pos=[1684, 3],
  norm=[1684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10104],
  edge_attr=[10104, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1861, 27],
  pos=[1861, 3],
  norm=[1861, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11166],
  edge_attr=[11166, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1747, 27],
  pos=[1747, 3],
  norm=[1747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10482],
  edge_attr=[10482, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1872, 27],
  pos=[1872, 3],
  norm=[1872, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11232],
  edge_attr=[11232, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1864, 27],
  pos=[1864, 3],
  norm=[1864, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11184],
  edge_attr=[11184, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1805, 27],
  pos=[1805, 3],
  norm=[1805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10830],
  edge_attr=[10830, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'g_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: g_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1982, 27],
  pos=[1982, 3],
  norm=[1982, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11892],
  edge_attr=[11892, 3]
)

---Updating memory of learning_module_1---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1875, 27],
  pos=[1875, 3],
  norm=[1875, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11250],
  edge_attr=[11250, 3]
)

---Updating memory of learning_module_2---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1984, 27],
  pos=[1984, 3],
  norm=[1984, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11904],
  edge_attr=[11904, 3]
)

---Updating memory of learning_module_3---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1966, 27],
  pos=[1966, 3],
  norm=[1966, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11796],
  edge_attr=[11796, 3]
)

---Updating memory of learning_module_4---
g_lego_duplo already in memory (['g_lego_duplo'])
Updating existing graph for g_lego_duplo
building graph
Extended graph g_lego_duplo with new points. New model:
Data(
  x=[1932, 27],
  pos=[1932, 3],
  norm=[1932, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11592],
  edge_attr=[11592, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'g_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_g_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id a_lego_duplo
built graph Data(
  x=[139, 27],
  pos=[139, 3],
  norm=[139, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 834],
  edge_attr=[834, 3]
)
Added new graph with id a_lego_duplo to memory.

---Updating memory of learning_module_1---
a_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id a_lego_duplo
built graph Data(
  x=[129, 27],
  pos=[129, 3],
  norm=[129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 774],
  edge_attr=[774, 3]
)
Added new graph with id a_lego_duplo to memory.

---Updating memory of learning_module_2---
a_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id a_lego_duplo
built graph Data(
  x=[124, 27],
  pos=[124, 3],
  norm=[124, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 744],
  edge_attr=[744, 3]
)
Added new graph with id a_lego_duplo to memory.

---Updating memory of learning_module_3---
a_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id a_lego_duplo
built graph Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)
Added new graph with id a_lego_duplo to memory.

---Updating memory of learning_module_4---
a_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id a_lego_duplo
built graph Data(
  x=[130, 27],
  pos=[130, 3],
  norm=[130, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 780],
  edge_attr=[780, 3]
)
Added new graph with id a_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
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]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[346, 27],
  pos=[346, 3],
  norm=[346, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2076],
  edge_attr=[2076, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[332, 27],
  pos=[332, 3],
  norm=[332, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1992],
  edge_attr=[1992, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[330, 27],
  pos=[330, 3],
  norm=[330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1980],
  edge_attr=[1980, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[330, 27],
  pos=[330, 3],
  norm=[330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1980],
  edge_attr=[1980, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[355, 27],
  pos=[355, 3],
  norm=[355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2130],
  edge_attr=[2130, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[399, 27],
  pos=[399, 3],
  norm=[399, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2394],
  edge_attr=[2394, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[521, 27],
  pos=[521, 3],
  norm=[521, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3126],
  edge_attr=[3126, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[532, 27],
  pos=[532, 3],
  norm=[532, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3192],
  edge_attr=[3192, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[533, 27],
  pos=[533, 3],
  norm=[533, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3198],
  edge_attr=[3198, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[732, 27],
  pos=[732, 3],
  norm=[732, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4392],
  edge_attr=[4392, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[656, 27],
  pos=[656, 3],
  norm=[656, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3936],
  edge_attr=[3936, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[701, 27],
  pos=[701, 3],
  norm=[701, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4206],
  edge_attr=[4206, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[769, 27],
  pos=[769, 3],
  norm=[769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4614],
  edge_attr=[4614, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[769, 27],
  pos=[769, 3],
  norm=[769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4614],
  edge_attr=[4614, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[849, 27],
  pos=[849, 3],
  norm=[849, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5094],
  edge_attr=[5094, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[803, 27],
  pos=[803, 3],
  norm=[803, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4818],
  edge_attr=[4818, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[787, 27],
  pos=[787, 3],
  norm=[787, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4722],
  edge_attr=[4722, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[914, 27],
  pos=[914, 3],
  norm=[914, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5484],
  edge_attr=[5484, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_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_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[855, 27],
  pos=[855, 3],
  norm=[855, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5130],
  edge_attr=[5130, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[900, 27],
  pos=[900, 3],
  norm=[900, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5400],
  edge_attr=[5400, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[959, 27],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5754],
  edge_attr=[5754, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[917, 27],
  pos=[917, 3],
  norm=[917, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5502],
  edge_attr=[5502, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[909, 27],
  pos=[909, 3],
  norm=[909, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5454],
  edge_attr=[5454, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[931, 27],
  pos=[931, 3],
  norm=[931, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5586],
  edge_attr=[5586, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1005, 27],
  pos=[1005, 3],
  norm=[1005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6030],
  edge_attr=[6030, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[959, 27],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5754],
  edge_attr=[5754, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[967, 27],
  pos=[967, 3],
  norm=[967, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5802],
  edge_attr=[5802, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[971, 27],
  pos=[971, 3],
  norm=[971, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5826],
  edge_attr=[5826, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1070, 27],
  pos=[1070, 3],
  norm=[1070, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6420],
  edge_attr=[6420, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1022, 27],
  pos=[1022, 3],
  norm=[1022, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6132],
  edge_attr=[6132, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1053, 27],
  pos=[1053, 3],
  norm=[1053, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6318],
  edge_attr=[6318, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1113, 27],
  pos=[1113, 3],
  norm=[1113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6678],
  edge_attr=[6678, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1062, 27],
  pos=[1062, 3],
  norm=[1062, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6372],
  edge_attr=[6372, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo 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_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_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]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1087, 27],
  pos=[1087, 3],
  norm=[1087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6522],
  edge_attr=[6522, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'a_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: a_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1175, 27],
  pos=[1175, 3],
  norm=[1175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7050],
  edge_attr=[7050, 3]
)

---Updating memory of learning_module_1---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1127, 27],
  pos=[1127, 3],
  norm=[1127, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6762],
  edge_attr=[6762, 3]
)

---Updating memory of learning_module_2---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1158, 27],
  pos=[1158, 3],
  norm=[1158, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6948],
  edge_attr=[6948, 3]
)

---Updating memory of learning_module_3---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1160, 27],
  pos=[1160, 3],
  norm=[1160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6960],
  edge_attr=[6960, 3]
)

---Updating memory of learning_module_4---
a_lego_duplo already in memory (['a_lego_duplo'])
Updating existing graph for a_lego_duplo
building graph
Extended graph a_lego_duplo with new points. New model:
Data(
  x=[1158, 27],
  pos=[1158, 3],
  norm=[1158, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6948],
  edge_attr=[6948, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_a_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball not in memory ([])
Adding a new graph to memory.
init object model with id mini_soccer_ball
built graph 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]
)
Added new graph with id mini_soccer_ball to memory.

---Updating memory of learning_module_1---
mini_soccer_ball not in memory ([])
Adding a new graph to memory.
init object model with id mini_soccer_ball
built graph 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]
)
Added new graph with id mini_soccer_ball to memory.

---Updating memory of learning_module_2---
mini_soccer_ball not in memory ([])
Adding a new graph to memory.
init object model with id mini_soccer_ball
built graph Data(
  x=[189, 27],
  pos=[189, 3],
  norm=[189, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1134],
  edge_attr=[1134, 3]
)
Added new graph with id mini_soccer_ball to memory.

---Updating memory of learning_module_3---
mini_soccer_ball not in memory ([])
Adding a new graph to memory.
init object model with id mini_soccer_ball
built graph Data(
  x=[191, 27],
  pos=[191, 3],
  norm=[191, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1146],
  edge_attr=[1146, 3]
)
Added new graph with id mini_soccer_ball to memory.

---Updating memory of learning_module_4---
mini_soccer_ball not in memory ([])
Adding a new graph to memory.
init object model with id mini_soccer_ball
built graph Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)
Added new graph with id mini_soccer_ball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_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_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[378, 27],
  pos=[378, 3],
  norm=[378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2268],
  edge_attr=[2268, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[378, 27],
  pos=[378, 3],
  norm=[378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2268],
  edge_attr=[2268, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[584, 27],
  pos=[584, 3],
  norm=[584, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3504],
  edge_attr=[3504, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[576, 27],
  pos=[576, 3],
  norm=[576, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3456],
  edge_attr=[3456, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[580, 27],
  pos=[580, 3],
  norm=[580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3480],
  edge_attr=[3480, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[587, 27],
  pos=[587, 3],
  norm=[587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3522],
  edge_attr=[3522, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[783, 27],
  pos=[783, 3],
  norm=[783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4698],
  edge_attr=[4698, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[770, 27],
  pos=[770, 3],
  norm=[770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4620],
  edge_attr=[4620, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[776, 27],
  pos=[776, 3],
  norm=[776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4656],
  edge_attr=[4656, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[784, 27],
  pos=[784, 3],
  norm=[784, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4704],
  edge_attr=[4704, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1014, 27],
  pos=[1014, 3],
  norm=[1014, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6084],
  edge_attr=[6084, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1006, 27],
  pos=[1006, 3],
  norm=[1006, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6036],
  edge_attr=[6036, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1019, 27],
  pos=[1019, 3],
  norm=[1019, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6114],
  edge_attr=[6114, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1225, 27],
  pos=[1225, 3],
  norm=[1225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7350],
  edge_attr=[7350, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1214, 27],
  pos=[1214, 3],
  norm=[1214, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7284],
  edge_attr=[7284, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1207, 27],
  pos=[1207, 3],
  norm=[1207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7242],
  edge_attr=[7242, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1411, 27],
  pos=[1411, 3],
  norm=[1411, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8466],
  edge_attr=[8466, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1397, 27],
  pos=[1397, 3],
  norm=[1397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8382],
  edge_attr=[8382, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1595, 27],
  pos=[1595, 3],
  norm=[1595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9570],
  edge_attr=[9570, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1568, 27],
  pos=[1568, 3],
  norm=[1568, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9408],
  edge_attr=[9408, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1578, 27],
  pos=[1578, 3],
  norm=[1578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9468],
  edge_attr=[9468, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1579, 27],
  pos=[1579, 3],
  norm=[1579, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9474],
  edge_attr=[9474, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1585, 27],
  pos=[1585, 3],
  norm=[1585, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9510],
  edge_attr=[9510, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1757, 27],
  pos=[1757, 3],
  norm=[1757, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10542],
  edge_attr=[10542, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1768, 27],
  pos=[1768, 3],
  norm=[1768, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10608],
  edge_attr=[10608, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1766, 27],
  pos=[1766, 3],
  norm=[1766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10596],
  edge_attr=[10596, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1767, 27],
  pos=[1767, 3],
  norm=[1767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10602],
  edge_attr=[10602, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1972, 27],
  pos=[1972, 3],
  norm=[1972, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11832],
  edge_attr=[11832, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1941, 27],
  pos=[1941, 3],
  norm=[1941, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11646],
  edge_attr=[11646, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1955, 27],
  pos=[1955, 3],
  norm=[1955, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11730],
  edge_attr=[11730, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1955, 27],
  pos=[1955, 3],
  norm=[1955, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11730],
  edge_attr=[11730, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[1954, 27],
  pos=[1954, 3],
  norm=[1954, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11724],
  edge_attr=[11724, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2168, 27],
  pos=[2168, 3],
  norm=[2168, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13008],
  edge_attr=[13008, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2145, 27],
  pos=[2145, 3],
  norm=[2145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12870],
  edge_attr=[12870, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2146, 27],
  pos=[2146, 3],
  norm=[2146, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12876],
  edge_attr=[12876, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2142, 27],
  pos=[2142, 3],
  norm=[2142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12852],
  edge_attr=[12852, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball 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---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2304, 27],
  pos=[2304, 3],
  norm=[2304, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13824],
  edge_attr=[13824, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2326, 27],
  pos=[2326, 3],
  norm=[2326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13956],
  edge_attr=[13956, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2324, 27],
  pos=[2324, 3],
  norm=[2324, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13944],
  edge_attr=[13944, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2327, 27],
  pos=[2327, 3],
  norm=[2327, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13962],
  edge_attr=[13962, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2545, 27],
  pos=[2545, 3],
  norm=[2545, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15270],
  edge_attr=[15270, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2499, 27],
  pos=[2499, 3],
  norm=[2499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14994],
  edge_attr=[14994, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2520, 27],
  pos=[2520, 3],
  norm=[2520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15120],
  edge_attr=[15120, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2521, 27],
  pos=[2521, 3],
  norm=[2521, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15126],
  edge_attr=[15126, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2518, 27],
  pos=[2518, 3],
  norm=[2518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15108],
  edge_attr=[15108, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'mini_soccer_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: mini_soccer_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2723, 27],
  pos=[2723, 3],
  norm=[2723, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16338],
  edge_attr=[16338, 3]
)

---Updating memory of learning_module_1---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2676, 27],
  pos=[2676, 3],
  norm=[2676, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16056],
  edge_attr=[16056, 3]
)

---Updating memory of learning_module_2---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2703, 27],
  pos=[2703, 3],
  norm=[2703, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16218],
  edge_attr=[16218, 3]
)

---Updating memory of learning_module_3---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2708, 27],
  pos=[2708, 3],
  norm=[2708, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16248],
  edge_attr=[16248, 3]
)

---Updating memory of learning_module_4---
mini_soccer_ball already in memory (['mini_soccer_ball'])
Updating existing graph for mini_soccer_ball
building graph
Extended graph mini_soccer_ball with new points. New model:
Data(
  x=[2698, 27],
  pos=[2698, 3],
  norm=[2698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16188],
  edge_attr=[16188, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'mini_soccer_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_mini_soccer_ball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp not in memory ([])
Adding a new graph to memory.
init object model with id medium_clamp
built graph Data(
  x=[73, 27],
  pos=[73, 3],
  norm=[73, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 438],
  edge_attr=[438, 3]
)
Added new graph with id medium_clamp to memory.

---Updating memory of learning_module_1---
medium_clamp not in memory ([])
Adding a new graph to memory.
init object model with id medium_clamp
built graph Data(
  x=[72, 27],
  pos=[72, 3],
  norm=[72, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 432],
  edge_attr=[432, 3]
)
Added new graph with id medium_clamp to memory.

---Updating memory of learning_module_2---
medium_clamp not in memory ([])
Adding a new graph to memory.
init object model with id medium_clamp
built graph Data(
  x=[70, 27],
  pos=[70, 3],
  norm=[70, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 420],
  edge_attr=[420, 3]
)
Added new graph with id medium_clamp to memory.

---Updating memory of learning_module_3---
medium_clamp not in memory ([])
Adding a new graph to memory.
init object model with id medium_clamp
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 medium_clamp to memory.

---Updating memory of learning_module_4---
medium_clamp not in memory ([])
Adding a new graph to memory.
init object model with id medium_clamp
built graph Data(
  x=[71, 27],
  pos=[71, 3],
  norm=[71, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 426],
  edge_attr=[426, 3]
)
Added new graph with id medium_clamp to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[118, 27],
  pos=[118, 3],
  norm=[118, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 708],
  edge_attr=[708, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[118, 27],
  pos=[118, 3],
  norm=[118, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 708],
  edge_attr=[708, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[120, 27],
  pos=[120, 3],
  norm=[120, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 720],
  edge_attr=[720, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[131, 27],
  pos=[131, 3],
  norm=[131, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 786],
  edge_attr=[786, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[125, 27],
  pos=[125, 3],
  norm=[125, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 750],
  edge_attr=[750, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[176, 27],
  pos=[176, 3],
  norm=[176, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1056],
  edge_attr=[1056, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
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]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[175, 27],
  pos=[175, 3],
  norm=[175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1050],
  edge_attr=[1050, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[182, 27],
  pos=[182, 3],
  norm=[182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1092],
  edge_attr=[1092, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[188, 27],
  pos=[188, 3],
  norm=[188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1128],
  edge_attr=[1128, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[245, 27],
  pos=[245, 3],
  norm=[245, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1470],
  edge_attr=[1470, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[244, 27],
  pos=[244, 3],
  norm=[244, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1464],
  edge_attr=[1464, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[245, 27],
  pos=[245, 3],
  norm=[245, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1470],
  edge_attr=[1470, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[262, 27],
  pos=[262, 3],
  norm=[262, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1572],
  edge_attr=[1572, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[369, 27],
  pos=[369, 3],
  norm=[369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2214],
  edge_attr=[2214, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[370, 27],
  pos=[370, 3],
  norm=[370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2220],
  edge_attr=[2220, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[498, 27],
  pos=[498, 3],
  norm=[498, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2988],
  edge_attr=[2988, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[494, 27],
  pos=[494, 3],
  norm=[494, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2964],
  edge_attr=[2964, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[558, 27],
  pos=[558, 3],
  norm=[558, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3348],
  edge_attr=[3348, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[559, 27],
  pos=[559, 3],
  norm=[559, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3354],
  edge_attr=[3354, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[621, 27],
  pos=[621, 3],
  norm=[621, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3726],
  edge_attr=[3726, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[610, 27],
  pos=[610, 3],
  norm=[610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3660],
  edge_attr=[3660, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[616, 27],
  pos=[616, 3],
  norm=[616, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3696],
  edge_attr=[3696, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[628, 27],
  pos=[628, 3],
  norm=[628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3768],
  edge_attr=[3768, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[659, 27],
  pos=[659, 3],
  norm=[659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3954],
  edge_attr=[3954, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[654, 27],
  pos=[654, 3],
  norm=[654, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3924],
  edge_attr=[3924, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[654, 27],
  pos=[654, 3],
  norm=[654, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3924],
  edge_attr=[3924, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[674, 27],
  pos=[674, 3],
  norm=[674, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4044],
  edge_attr=[4044, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[694, 27],
  pos=[694, 3],
  norm=[694, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4164],
  edge_attr=[4164, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[697, 27],
  pos=[697, 3],
  norm=[697, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4182],
  edge_attr=[4182, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[722, 27],
  pos=[722, 3],
  norm=[722, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4332],
  edge_attr=[4332, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[779, 27],
  pos=[779, 3],
  norm=[779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4674],
  edge_attr=[4674, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[760, 27],
  pos=[760, 3],
  norm=[760, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4560],
  edge_attr=[4560, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[769, 27],
  pos=[769, 3],
  norm=[769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4614],
  edge_attr=[4614, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[800, 27],
  pos=[800, 3],
  norm=[800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4800],
  edge_attr=[4800, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[843, 27],
  pos=[843, 3],
  norm=[843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5058],
  edge_attr=[5058, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[881, 27],
  pos=[881, 3],
  norm=[881, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5286],
  edge_attr=[5286, 3]
)

---Updating memory of learning_module_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[851, 27],
  pos=[851, 3],
  norm=[851, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5106],
  edge_attr=[5106, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[877, 27],
  pos=[877, 3],
  norm=[877, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5262],
  edge_attr=[5262, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[903, 27],
  pos=[903, 3],
  norm=[903, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5418],
  edge_attr=[5418, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'medium_clamp',
 '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: medium_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[941, 27],
  pos=[941, 3],
  norm=[941, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5646],
  edge_attr=[5646, 3]
)

---Updating memory of learning_module_1---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[914, 27],
  pos=[914, 3],
  norm=[914, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5484],
  edge_attr=[5484, 3]
)

---Updating memory of learning_module_2---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[922, 27],
  pos=[922, 3],
  norm=[922, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5532],
  edge_attr=[5532, 3]
)

---Updating memory of learning_module_3---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp 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_4---
medium_clamp already in memory (['medium_clamp'])
Updating existing graph for medium_clamp
building graph
Extended graph medium_clamp with new points. New model:
Data(
  x=[949, 27],
  pos=[949, 3],
  norm=[949, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5694],
  edge_attr=[5694, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'medium_clamp',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_medium_clamp/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles not in memory ([])
Adding a new graph to memory.
init object model with id a_marbles
built graph 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]
)
Added new graph with id a_marbles to memory.

---Updating memory of learning_module_1---
a_marbles not in memory ([])
Adding a new graph to memory.
init object model with id a_marbles
built graph Data(
  x=[128, 27],
  pos=[128, 3],
  norm=[128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 768],
  edge_attr=[768, 3]
)
Added new graph with id a_marbles to memory.

---Updating memory of learning_module_2---
a_marbles not in memory ([])
Adding a new graph to memory.
init object model with id a_marbles
built graph Data(
  x=[160, 27],
  pos=[160, 3],
  norm=[160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 960],
  edge_attr=[960, 3]
)
Added new graph with id a_marbles to memory.

---Updating memory of learning_module_3---
a_marbles not in memory ([])
Adding a new graph to memory.
init object model with id a_marbles
built graph 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]
)
Added new graph with id a_marbles to memory.

---Updating memory of learning_module_4---
a_marbles not in memory ([])
Adding a new graph to memory.
init object model with id a_marbles
built graph Data(
  x=[142, 27],
  pos=[142, 3],
  norm=[142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 852],
  edge_attr=[852, 3]
)
Added new graph with id a_marbles to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[229, 27],
  pos=[229, 3],
  norm=[229, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1374],
  edge_attr=[1374, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[255, 27],
  pos=[255, 3],
  norm=[255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1530],
  edge_attr=[1530, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[255, 27],
  pos=[255, 3],
  norm=[255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1530],
  edge_attr=[1530, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[475, 27],
  pos=[475, 3],
  norm=[475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2850],
  edge_attr=[2850, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[548, 27],
  pos=[548, 3],
  norm=[548, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3288],
  edge_attr=[3288, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[520, 27],
  pos=[520, 3],
  norm=[520, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3120],
  edge_attr=[3120, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[565, 27],
  pos=[565, 3],
  norm=[565, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3390],
  edge_attr=[3390, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[640, 27],
  pos=[640, 3],
  norm=[640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3840],
  edge_attr=[3840, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[630, 27],
  pos=[630, 3],
  norm=[630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3780],
  edge_attr=[3780, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[740, 27],
  pos=[740, 3],
  norm=[740, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4440],
  edge_attr=[4440, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[793, 27],
  pos=[793, 3],
  norm=[793, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4758],
  edge_attr=[4758, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[816, 27],
  pos=[816, 3],
  norm=[816, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4896],
  edge_attr=[4896, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[939, 27],
  pos=[939, 3],
  norm=[939, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5634],
  edge_attr=[5634, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[953, 27],
  pos=[953, 3],
  norm=[953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5718],
  edge_attr=[5718, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[911, 27],
  pos=[911, 3],
  norm=[911, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5466],
  edge_attr=[5466, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1034, 27],
  pos=[1034, 3],
  norm=[1034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6204],
  edge_attr=[6204, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1016, 27],
  pos=[1016, 3],
  norm=[1016, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6096],
  edge_attr=[6096, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1169, 27],
  pos=[1169, 3],
  norm=[1169, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7014],
  edge_attr=[7014, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1136, 27],
  pos=[1136, 3],
  norm=[1136, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6816],
  edge_attr=[6816, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1281, 27],
  pos=[1281, 3],
  norm=[1281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7686],
  edge_attr=[7686, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1225, 27],
  pos=[1225, 3],
  norm=[1225, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7350],
  edge_attr=[7350, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1365, 27],
  pos=[1365, 3],
  norm=[1365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8190],
  edge_attr=[8190, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1240, 27],
  pos=[1240, 3],
  norm=[1240, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7440],
  edge_attr=[7440, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1383, 27],
  pos=[1383, 3],
  norm=[1383, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8298],
  edge_attr=[8298, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1322, 27],
  pos=[1322, 3],
  norm=[1322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7932],
  edge_attr=[7932, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1462, 27],
  pos=[1462, 3],
  norm=[1462, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8772],
  edge_attr=[8772, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1314, 27],
  pos=[1314, 3],
  norm=[1314, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7884],
  edge_attr=[7884, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1499, 27],
  pos=[1499, 3],
  norm=[1499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8994],
  edge_attr=[8994, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1453, 27],
  pos=[1453, 3],
  norm=[1453, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8718],
  edge_attr=[8718, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1421, 27],
  pos=[1421, 3],
  norm=[1421, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8526],
  edge_attr=[8526, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1578, 27],
  pos=[1578, 3],
  norm=[1578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9468],
  edge_attr=[9468, 3]
)

---Updating memory of learning_module_1---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1426, 27],
  pos=[1426, 3],
  norm=[1426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8556],
  edge_attr=[8556, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1613, 27],
  pos=[1613, 3],
  norm=[1613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9678],
  edge_attr=[9678, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1581, 27],
  pos=[1581, 3],
  norm=[1581, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9486],
  edge_attr=[9486, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1538, 27],
  pos=[1538, 3],
  norm=[1538, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9228],
  edge_attr=[9228, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'a_marbles',
 '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: a_marbles
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1518, 27],
  pos=[1518, 3],
  norm=[1518, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9108],
  edge_attr=[9108, 3]
)

---Updating memory of learning_module_2---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1735, 27],
  pos=[1735, 3],
  norm=[1735, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10410],
  edge_attr=[10410, 3]
)

---Updating memory of learning_module_3---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles with new points. New model:
Data(
  x=[1684, 27],
  pos=[1684, 3],
  norm=[1684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10104],
  edge_attr=[10104, 3]
)

---Updating memory of learning_module_4---
a_marbles already in memory (['a_marbles'])
Updating existing graph for a_marbles
building graph
Extended graph a_marbles 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]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_marbles',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_a_marbles/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id extra_large_clamp
built graph 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]
)
Added new graph with id extra_large_clamp to memory.

---Updating memory of learning_module_1---
extra_large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id extra_large_clamp
built graph 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]
)
Added new graph with id extra_large_clamp to memory.

---Updating memory of learning_module_2---
extra_large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id extra_large_clamp
built graph 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]
)
Added new graph with id extra_large_clamp to memory.

---Updating memory of learning_module_3---
extra_large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id extra_large_clamp
built graph 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]
)
Added new graph with id extra_large_clamp to memory.

---Updating memory of learning_module_4---
extra_large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id extra_large_clamp
built graph Data(
  x=[99, 27],
  pos=[99, 3],
  norm=[99, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 594],
  edge_attr=[594, 3]
)
Added new graph with id extra_large_clamp to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[182, 27],
  pos=[182, 3],
  norm=[182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1092],
  edge_attr=[1092, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[167, 27],
  pos=[167, 3],
  norm=[167, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1002],
  edge_attr=[1002, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[270, 27],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1620],
  edge_attr=[1620, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[275, 27],
  pos=[275, 3],
  norm=[275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1650],
  edge_attr=[1650, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[272, 27],
  pos=[272, 3],
  norm=[272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1632],
  edge_attr=[1632, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[270, 27],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1620],
  edge_attr=[1620, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[260, 27],
  pos=[260, 3],
  norm=[260, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1560],
  edge_attr=[1560, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[378, 27],
  pos=[378, 3],
  norm=[378, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2268],
  edge_attr=[2268, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[547, 27],
  pos=[547, 3],
  norm=[547, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3282],
  edge_attr=[3282, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[552, 27],
  pos=[552, 3],
  norm=[552, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3312],
  edge_attr=[3312, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[699, 27],
  pos=[699, 3],
  norm=[699, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4194],
  edge_attr=[4194, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[720, 27],
  pos=[720, 3],
  norm=[720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4320],
  edge_attr=[4320, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[736, 27],
  pos=[736, 3],
  norm=[736, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4416],
  edge_attr=[4416, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[815, 27],
  pos=[815, 3],
  norm=[815, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4890],
  edge_attr=[4890, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[838, 27],
  pos=[838, 3],
  norm=[838, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5028],
  edge_attr=[5028, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[934, 27],
  pos=[934, 3],
  norm=[934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5604],
  edge_attr=[5604, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[956, 27],
  pos=[956, 3],
  norm=[956, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5736],
  edge_attr=[5736, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[958, 27],
  pos=[958, 3],
  norm=[958, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5748],
  edge_attr=[5748, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[984, 27],
  pos=[984, 3],
  norm=[984, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5904],
  edge_attr=[5904, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1038, 27],
  pos=[1038, 3],
  norm=[1038, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6228],
  edge_attr=[6228, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[993, 27],
  pos=[993, 3],
  norm=[993, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5958],
  edge_attr=[5958, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1024, 27],
  pos=[1024, 3],
  norm=[1024, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6144],
  edge_attr=[6144, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1055, 27],
  pos=[1055, 3],
  norm=[1055, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6330],
  edge_attr=[6330, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1109, 27],
  pos=[1109, 3],
  norm=[1109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6654],
  edge_attr=[6654, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1077, 27],
  pos=[1077, 3],
  norm=[1077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6462],
  edge_attr=[6462, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1099, 27],
  pos=[1099, 3],
  norm=[1099, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6594],
  edge_attr=[6594, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1095, 27],
  pos=[1095, 3],
  norm=[1095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6570],
  edge_attr=[6570, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1127, 27],
  pos=[1127, 3],
  norm=[1127, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6762],
  edge_attr=[6762, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1181, 27],
  pos=[1181, 3],
  norm=[1181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7086],
  edge_attr=[7086, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1224, 27],
  pos=[1224, 3],
  norm=[1224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7344],
  edge_attr=[7344, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1333, 27],
  pos=[1333, 3],
  norm=[1333, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7998],
  edge_attr=[7998, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1291, 27],
  pos=[1291, 3],
  norm=[1291, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7746],
  edge_attr=[7746, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1318, 27],
  pos=[1318, 3],
  norm=[1318, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7908],
  edge_attr=[7908, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1345, 27],
  pos=[1345, 3],
  norm=[1345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8070],
  edge_attr=[8070, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1404, 27],
  pos=[1404, 3],
  norm=[1404, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8424],
  edge_attr=[8424, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1373, 27],
  pos=[1373, 3],
  norm=[1373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8238],
  edge_attr=[8238, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1386, 27],
  pos=[1386, 3],
  norm=[1386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8316],
  edge_attr=[8316, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1414, 27],
  pos=[1414, 3],
  norm=[1414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8484],
  edge_attr=[8484, 3]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1397, 27],
  pos=[1397, 3],
  norm=[1397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8382],
  edge_attr=[8382, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'extra_large_clamp',
 '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: extra_large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1463, 27],
  pos=[1463, 3],
  norm=[1463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8778],
  edge_attr=[8778, 3]
)

---Updating memory of learning_module_1---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1426, 27],
  pos=[1426, 3],
  norm=[1426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8556],
  edge_attr=[8556, 3]
)

---Updating memory of learning_module_2---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1457, 27],
  pos=[1457, 3],
  norm=[1457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8742],
  edge_attr=[8742, 3]
)

---Updating memory of learning_module_3---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp 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]
)

---Updating memory of learning_module_4---
extra_large_clamp already in memory (['extra_large_clamp'])
Updating existing graph for extra_large_clamp
building graph
Extended graph extra_large_clamp with new points. New model:
Data(
  x=[1454, 27],
  pos=[1454, 3],
  norm=[1454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8724],
  edge_attr=[8724, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'extra_large_clamp',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_extra_large_clamp/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups not in memory ([])
Adding a new graph to memory.
init object model with id d_cups
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 d_cups to memory.

---Updating memory of learning_module_1---
d_cups not in memory ([])
Adding a new graph to memory.
init object model with id d_cups
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 d_cups to memory.

---Updating memory of learning_module_2---
d_cups not in memory ([])
Adding a new graph to memory.
init object model with id d_cups
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 d_cups to memory.

---Updating memory of learning_module_3---
d_cups not in memory ([])
Adding a new graph to memory.
init object model with id d_cups
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 d_cups to memory.

---Updating memory of learning_module_4---
d_cups not in memory ([])
Adding a new graph to memory.
init object model with id d_cups
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 d_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[417, 27],
  pos=[417, 3],
  norm=[417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2502],
  edge_attr=[2502, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[403, 27],
  pos=[403, 3],
  norm=[403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2418],
  edge_attr=[2418, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[436, 27],
  pos=[436, 3],
  norm=[436, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2616],
  edge_attr=[2616, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[605, 27],
  pos=[605, 3],
  norm=[605, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3630],
  edge_attr=[3630, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[649, 27],
  pos=[649, 3],
  norm=[649, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3894],
  edge_attr=[3894, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[651, 27],
  pos=[651, 3],
  norm=[651, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3906],
  edge_attr=[3906, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[802, 27],
  pos=[802, 3],
  norm=[802, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4812],
  edge_attr=[4812, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[866, 27],
  pos=[866, 3],
  norm=[866, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5196],
  edge_attr=[5196, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[863, 27],
  pos=[863, 3],
  norm=[863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5178],
  edge_attr=[5178, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1121, 27],
  pos=[1121, 3],
  norm=[1121, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6726],
  edge_attr=[6726, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1087, 27],
  pos=[1087, 3],
  norm=[1087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6522],
  edge_attr=[6522, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1085, 27],
  pos=[1085, 3],
  norm=[1085, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6510],
  edge_attr=[6510, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1277, 27],
  pos=[1277, 3],
  norm=[1277, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7662],
  edge_attr=[7662, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1270, 27],
  pos=[1270, 3],
  norm=[1270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7620],
  edge_attr=[7620, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1311, 27],
  pos=[1311, 3],
  norm=[1311, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7866],
  edge_attr=[7866, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1307, 27],
  pos=[1307, 3],
  norm=[1307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7842],
  edge_attr=[7842, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1430, 27],
  pos=[1430, 3],
  norm=[1430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8580],
  edge_attr=[8580, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1643, 27],
  pos=[1643, 3],
  norm=[1643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9858],
  edge_attr=[9858, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1541, 27],
  pos=[1541, 3],
  norm=[1541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9246],
  edge_attr=[9246, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1577, 27],
  pos=[1577, 3],
  norm=[1577, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9462],
  edge_attr=[9462, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1580, 27],
  pos=[1580, 3],
  norm=[1580, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9480],
  edge_attr=[9480, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1758, 27],
  pos=[1758, 3],
  norm=[1758, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10548],
  edge_attr=[10548, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1639, 27],
  pos=[1639, 3],
  norm=[1639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9834],
  edge_attr=[9834, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1666, 27],
  pos=[1666, 3],
  norm=[1666, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9996],
  edge_attr=[9996, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1912, 27],
  pos=[1912, 3],
  norm=[1912, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11472],
  edge_attr=[11472, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1791, 27],
  pos=[1791, 3],
  norm=[1791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10746],
  edge_attr=[10746, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1805, 27],
  pos=[1805, 3],
  norm=[1805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10830],
  edge_attr=[10830, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1839, 27],
  pos=[1839, 3],
  norm=[1839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11034],
  edge_attr=[11034, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1848, 27],
  pos=[1848, 3],
  norm=[1848, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11088],
  edge_attr=[11088, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2082, 27],
  pos=[2082, 3],
  norm=[2082, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12492],
  edge_attr=[12492, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1950, 27],
  pos=[1950, 3],
  norm=[1950, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11700],
  edge_attr=[11700, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[1960, 27],
  pos=[1960, 3],
  norm=[1960, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11760],
  edge_attr=[11760, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2014, 27],
  pos=[2014, 3],
  norm=[2014, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12084],
  edge_attr=[12084, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2173, 27],
  pos=[2173, 3],
  norm=[2173, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13038],
  edge_attr=[13038, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2043, 27],
  pos=[2043, 3],
  norm=[2043, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12258],
  edge_attr=[12258, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2077, 27],
  pos=[2077, 3],
  norm=[2077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12462],
  edge_attr=[12462, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2112, 27],
  pos=[2112, 3],
  norm=[2112, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12672],
  edge_attr=[12672, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2115, 27],
  pos=[2115, 3],
  norm=[2115, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12690],
  edge_attr=[12690, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2342, 27],
  pos=[2342, 3],
  norm=[2342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14052],
  edge_attr=[14052, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2201, 27],
  pos=[2201, 3],
  norm=[2201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13206],
  edge_attr=[13206, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2228, 27],
  pos=[2228, 3],
  norm=[2228, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13368],
  edge_attr=[13368, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2274, 27],
  pos=[2274, 3],
  norm=[2274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13644],
  edge_attr=[13644, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2284, 27],
  pos=[2284, 3],
  norm=[2284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13704],
  edge_attr=[13704, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'd_cups',
 '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: d_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2433, 27],
  pos=[2433, 3],
  norm=[2433, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14598],
  edge_attr=[14598, 3]
)

---Updating memory of learning_module_1---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2296, 27],
  pos=[2296, 3],
  norm=[2296, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13776],
  edge_attr=[13776, 3]
)

---Updating memory of learning_module_2---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2344, 27],
  pos=[2344, 3],
  norm=[2344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14064],
  edge_attr=[14064, 3]
)

---Updating memory of learning_module_3---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2375, 27],
  pos=[2375, 3],
  norm=[2375, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14250],
  edge_attr=[14250, 3]
)

---Updating memory of learning_module_4---
d_cups already in memory (['d_cups'])
Updating existing graph for d_cups
building graph
Extended graph d_cups with new points. New model:
Data(
  x=[2374, 27],
  pos=[2374, 3],
  norm=[2374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14244],
  edge_attr=[14244, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_d_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id e_toy_airplane
built graph Data(
  x=[93, 27],
  pos=[93, 3],
  norm=[93, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 558],
  edge_attr=[558, 3]
)
Added new graph with id e_toy_airplane to memory.

---Updating memory of learning_module_1---
e_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id e_toy_airplane
built graph Data(
  x=[72, 27],
  pos=[72, 3],
  norm=[72, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 432],
  edge_attr=[432, 3]
)
Added new graph with id e_toy_airplane to memory.

---Updating memory of learning_module_2---
e_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id e_toy_airplane
built graph Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)
Added new graph with id e_toy_airplane to memory.

---Updating memory of learning_module_3---
e_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id e_toy_airplane
built graph 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]
)
Added new graph with id e_toy_airplane to memory.

---Updating memory of learning_module_4---
e_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id e_toy_airplane
built graph 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]
)
Added new graph with id e_toy_airplane to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[181, 27],
  pos=[181, 3],
  norm=[181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1086],
  edge_attr=[1086, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[145, 27],
  pos=[145, 3],
  norm=[145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 870],
  edge_attr=[870, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[214, 27],
  pos=[214, 3],
  norm=[214, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1284],
  edge_attr=[1284, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[187, 27],
  pos=[187, 3],
  norm=[187, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1122],
  edge_attr=[1122, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[315, 27],
  pos=[315, 3],
  norm=[315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1890],
  edge_attr=[1890, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[274, 27],
  pos=[274, 3],
  norm=[274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1644],
  edge_attr=[1644, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[280, 27],
  pos=[280, 3],
  norm=[280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1680],
  edge_attr=[1680, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[275, 27],
  pos=[275, 3],
  norm=[275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1650],
  edge_attr=[1650, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[403, 27],
  pos=[403, 3],
  norm=[403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2418],
  edge_attr=[2418, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[360, 27],
  pos=[360, 3],
  norm=[360, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2160],
  edge_attr=[2160, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[389, 27],
  pos=[389, 3],
  norm=[389, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2334],
  edge_attr=[2334, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[521, 27],
  pos=[521, 3],
  norm=[521, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3126],
  edge_attr=[3126, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[490, 27],
  pos=[490, 3],
  norm=[490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2940],
  edge_attr=[2940, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[579, 27],
  pos=[579, 3],
  norm=[579, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3474],
  edge_attr=[3474, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[610, 27],
  pos=[610, 3],
  norm=[610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3660],
  edge_attr=[3660, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[636, 27],
  pos=[636, 3],
  norm=[636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3816],
  edge_attr=[3816, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[689, 27],
  pos=[689, 3],
  norm=[689, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4134],
  edge_attr=[4134, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[698, 27],
  pos=[698, 3],
  norm=[698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4188],
  edge_attr=[4188, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[605, 27],
  pos=[605, 3],
  norm=[605, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3630],
  edge_attr=[3630, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[732, 27],
  pos=[732, 3],
  norm=[732, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4392],
  edge_attr=[4392, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[753, 27],
  pos=[753, 3],
  norm=[753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4518],
  edge_attr=[4518, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[795, 27],
  pos=[795, 3],
  norm=[795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4770],
  edge_attr=[4770, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[782, 27],
  pos=[782, 3],
  norm=[782, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4692],
  edge_attr=[4692, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[702, 27],
  pos=[702, 3],
  norm=[702, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4212],
  edge_attr=[4212, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[843, 27],
  pos=[843, 3],
  norm=[843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5058],
  edge_attr=[5058, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[849, 27],
  pos=[849, 3],
  norm=[849, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5094],
  edge_attr=[5094, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[837, 27],
  pos=[837, 3],
  norm=[837, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5022],
  edge_attr=[5022, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[749, 27],
  pos=[749, 3],
  norm=[749, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4494],
  edge_attr=[4494, 3]
)

---Updating memory of learning_module_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[897, 27],
  pos=[897, 3],
  norm=[897, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5382],
  edge_attr=[5382, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[897, 27],
  pos=[897, 3],
  norm=[897, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5382],
  edge_attr=[5382, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[893, 27],
  pos=[893, 3],
  norm=[893, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5358],
  edge_attr=[5358, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'e_toy_airplane',
 '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: e_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[921, 27],
  pos=[921, 3],
  norm=[921, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5526],
  edge_attr=[5526, 3]
)

---Updating memory of learning_module_1---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane 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_2---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[955, 27],
  pos=[955, 3],
  norm=[955, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5730],
  edge_attr=[5730, 3]
)

---Updating memory of learning_module_3---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[956, 27],
  pos=[956, 3],
  norm=[956, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5736],
  edge_attr=[5736, 3]
)

---Updating memory of learning_module_4---
e_toy_airplane already in memory (['e_toy_airplane'])
Updating existing graph for e_toy_airplane
building graph
Extended graph e_toy_airplane with new points. New model:
Data(
  x=[955, 27],
  pos=[955, 3],
  norm=[955, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5730],
  edge_attr=[5730, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'e_toy_airplane',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_e_toy_airplane/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench not in memory ([])
Adding a new graph to memory.
init object model with id adjustable_wrench
built graph Data(
  x=[21, 27],
  pos=[21, 3],
  norm=[21, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 126],
  edge_attr=[126, 3]
)
Added new graph with id adjustable_wrench to memory.

---Updating memory of learning_module_1---
adjustable_wrench not in memory ([])
Adding a new graph to memory.
init object model with id adjustable_wrench
built graph Data(
  x=[25, 27],
  pos=[25, 3],
  norm=[25, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 150],
  edge_attr=[150, 3]
)
Added new graph with id adjustable_wrench to memory.

---Updating memory of learning_module_2---
adjustable_wrench not in memory ([])
Adding a new graph to memory.
init object model with id adjustable_wrench
built graph Data(
  x=[28, 27],
  pos=[28, 3],
  norm=[28, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 168],
  edge_attr=[168, 3]
)
Added new graph with id adjustable_wrench to memory.

---Updating memory of learning_module_3---
adjustable_wrench not in memory ([])
Adding a new graph to memory.
init object model with id adjustable_wrench
built graph Data(
  x=[22, 27],
  pos=[22, 3],
  norm=[22, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 132],
  edge_attr=[132, 3]
)
Added new graph with id adjustable_wrench to memory.

---Updating memory of learning_module_4---
adjustable_wrench not in memory ([])
Adding a new graph to memory.
init object model with id adjustable_wrench
built graph Data(
  x=[19, 27],
  pos=[19, 3],
  norm=[19, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 114],
  edge_attr=[114, 3]
)
Added new graph with id adjustable_wrench to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[37, 27],
  pos=[37, 3],
  norm=[37, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 222],
  edge_attr=[222, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[46, 27],
  pos=[46, 3],
  norm=[46, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 276],
  edge_attr=[276, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[39, 27],
  pos=[39, 3],
  norm=[39, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 234],
  edge_attr=[234, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[38, 27],
  pos=[38, 3],
  norm=[38, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 228],
  edge_attr=[228, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[70, 27],
  pos=[70, 3],
  norm=[70, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 420],
  edge_attr=[420, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[60, 27],
  pos=[60, 3],
  norm=[60, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 360],
  edge_attr=[360, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[54, 27],
  pos=[54, 3],
  norm=[54, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 324],
  edge_attr=[324, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[64, 27],
  pos=[64, 3],
  norm=[64, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 384],
  edge_attr=[384, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[73, 27],
  pos=[73, 3],
  norm=[73, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 438],
  edge_attr=[438, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[68, 27],
  pos=[68, 3],
  norm=[68, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 408],
  edge_attr=[408, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[69, 27],
  pos=[69, 3],
  norm=[69, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 414],
  edge_attr=[414, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[193, 27],
  pos=[193, 3],
  norm=[193, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1158],
  edge_attr=[1158, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[182, 27],
  pos=[182, 3],
  norm=[182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1092],
  edge_attr=[1092, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[315, 27],
  pos=[315, 3],
  norm=[315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1890],
  edge_attr=[1890, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[335, 27],
  pos=[335, 3],
  norm=[335, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2010],
  edge_attr=[2010, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[323, 27],
  pos=[323, 3],
  norm=[323, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1938],
  edge_attr=[1938, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[370, 27],
  pos=[370, 3],
  norm=[370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2220],
  edge_attr=[2220, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[365, 27],
  pos=[365, 3],
  norm=[365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2190],
  edge_attr=[2190, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[354, 27],
  pos=[354, 3],
  norm=[354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2124],
  edge_attr=[2124, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[401, 27],
  pos=[401, 3],
  norm=[401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2406],
  edge_attr=[2406, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[397, 27],
  pos=[397, 3],
  norm=[397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2382],
  edge_attr=[2382, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[467, 27],
  pos=[467, 3],
  norm=[467, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2802],
  edge_attr=[2802, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[445, 27],
  pos=[445, 3],
  norm=[445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2670],
  edge_attr=[2670, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[539, 27],
  pos=[539, 3],
  norm=[539, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3234],
  edge_attr=[3234, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[531, 27],
  pos=[531, 3],
  norm=[531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3186],
  edge_attr=[3186, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[533, 27],
  pos=[533, 3],
  norm=[533, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3198],
  edge_attr=[3198, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[525, 27],
  pos=[525, 3],
  norm=[525, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3150],
  edge_attr=[3150, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[587, 27],
  pos=[587, 3],
  norm=[587, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3522],
  edge_attr=[3522, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[595, 27],
  pos=[595, 3],
  norm=[595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3570],
  edge_attr=[3570, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[591, 27],
  pos=[591, 3],
  norm=[591, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3546],
  edge_attr=[3546, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[577, 27],
  pos=[577, 3],
  norm=[577, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3462],
  edge_attr=[3462, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[616, 27],
  pos=[616, 3],
  norm=[616, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3696],
  edge_attr=[3696, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[613, 27],
  pos=[613, 3],
  norm=[613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3678],
  edge_attr=[3678, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[654, 27],
  pos=[654, 3],
  norm=[654, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3924],
  edge_attr=[3924, 3]
)

---Updating memory of learning_module_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[653, 27],
  pos=[653, 3],
  norm=[653, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3918],
  edge_attr=[3918, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[662, 27],
  pos=[662, 3],
  norm=[662, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3972],
  edge_attr=[3972, 3]
)

---Updating memory of learning_module_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'adjustable_wrench',
 '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: adjustable_wrench
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_1---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[687, 27],
  pos=[687, 3],
  norm=[687, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4122],
  edge_attr=[4122, 3]
)

---Updating memory of learning_module_2---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)

---Updating memory of learning_module_3---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench 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_4---
adjustable_wrench already in memory (['adjustable_wrench'])
Updating existing graph for adjustable_wrench
building graph
Extended graph adjustable_wrench with new points. New model:
Data(
  x=[662, 27],
  pos=[662, 3],
  norm=[662, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3972],
  edge_attr=[3972, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'adjustable_wrench',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_adjustable_wrench/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube not in memory ([])
Adding a new graph to memory.
init object model with id rubiks_cube
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 rubiks_cube to memory.

---Updating memory of learning_module_1---
rubiks_cube not in memory ([])
Adding a new graph to memory.
init object model with id rubiks_cube
built graph 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]
)
Added new graph with id rubiks_cube to memory.

---Updating memory of learning_module_2---
rubiks_cube not in memory ([])
Adding a new graph to memory.
init object model with id rubiks_cube
built graph 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]
)
Added new graph with id rubiks_cube to memory.

---Updating memory of learning_module_3---
rubiks_cube not in memory ([])
Adding a new graph to memory.
init object model with id rubiks_cube
built graph 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]
)
Added new graph with id rubiks_cube to memory.

---Updating memory of learning_module_4---
rubiks_cube not in memory ([])
Adding a new graph to memory.
init object model with id rubiks_cube
built graph Data(
  x=[209, 27],
  pos=[209, 3],
  norm=[209, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1254],
  edge_attr=[1254, 3]
)
Added new graph with id rubiks_cube to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[373, 27],
  pos=[373, 3],
  norm=[373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2238],
  edge_attr=[2238, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[638, 27],
  pos=[638, 3],
  norm=[638, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3828],
  edge_attr=[3828, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[557, 27],
  pos=[557, 3],
  norm=[557, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3342],
  edge_attr=[3342, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[672, 27],
  pos=[672, 3],
  norm=[672, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4032],
  edge_attr=[4032, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[744, 27],
  pos=[744, 3],
  norm=[744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4464],
  edge_attr=[4464, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[824, 27],
  pos=[824, 3],
  norm=[824, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4944],
  edge_attr=[4944, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[961, 27],
  pos=[961, 3],
  norm=[961, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5766],
  edge_attr=[5766, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1021, 27],
  pos=[1021, 3],
  norm=[1021, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6126],
  edge_attr=[6126, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1118, 27],
  pos=[1118, 3],
  norm=[1118, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6708],
  edge_attr=[6708, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1048, 27],
  pos=[1048, 3],
  norm=[1048, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6288],
  edge_attr=[6288, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1337, 27],
  pos=[1337, 3],
  norm=[1337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8022],
  edge_attr=[8022, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1181, 27],
  pos=[1181, 3],
  norm=[1181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7086],
  edge_attr=[7086, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1342, 27],
  pos=[1342, 3],
  norm=[1342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8052],
  edge_attr=[8052, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1273, 27],
  pos=[1273, 3],
  norm=[1273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7638],
  edge_attr=[7638, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1457, 27],
  pos=[1457, 3],
  norm=[1457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8742],
  edge_attr=[8742, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1307, 27],
  pos=[1307, 3],
  norm=[1307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7842],
  edge_attr=[7842, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1374, 27],
  pos=[1374, 3],
  norm=[1374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8244],
  edge_attr=[8244, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1454, 27],
  pos=[1454, 3],
  norm=[1454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8724],
  edge_attr=[8724, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1561, 27],
  pos=[1561, 3],
  norm=[1561, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9366],
  edge_attr=[9366, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1427, 27],
  pos=[1427, 3],
  norm=[1427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8562],
  edge_attr=[8562, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1481, 27],
  pos=[1481, 3],
  norm=[1481, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8886],
  edge_attr=[8886, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1549, 27],
  pos=[1549, 3],
  norm=[1549, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9294],
  edge_attr=[9294, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1503, 27],
  pos=[1503, 3],
  norm=[1503, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9018],
  edge_attr=[9018, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1673, 27],
  pos=[1673, 3],
  norm=[1673, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10038],
  edge_attr=[10038, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1612, 27],
  pos=[1612, 3],
  norm=[1612, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9672],
  edge_attr=[9672, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1666, 27],
  pos=[1666, 3],
  norm=[1666, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9996],
  edge_attr=[9996, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1629, 27],
  pos=[1629, 3],
  norm=[1629, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9774],
  edge_attr=[9774, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1776, 27],
  pos=[1776, 3],
  norm=[1776, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10656],
  edge_attr=[10656, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1643, 27],
  pos=[1643, 3],
  norm=[1643, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9858],
  edge_attr=[9858, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1771, 27],
  pos=[1771, 3],
  norm=[1771, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10626],
  edge_attr=[10626, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1885, 27],
  pos=[1885, 3],
  norm=[1885, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11310],
  edge_attr=[11310, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1763, 27],
  pos=[1763, 3],
  norm=[1763, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10578],
  edge_attr=[10578, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1807, 27],
  pos=[1807, 3],
  norm=[1807, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10842],
  edge_attr=[10842, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1886, 27],
  pos=[1886, 3],
  norm=[1886, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11316],
  edge_attr=[11316, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1996, 27],
  pos=[1996, 3],
  norm=[1996, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11976],
  edge_attr=[11976, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1850, 27],
  pos=[1850, 3],
  norm=[1850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11100],
  edge_attr=[11100, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1923, 27],
  pos=[1923, 3],
  norm=[1923, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11538],
  edge_attr=[11538, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1995, 27],
  pos=[1995, 3],
  norm=[1995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11970],
  edge_attr=[11970, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube 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]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2116, 27],
  pos=[2116, 3],
  norm=[2116, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12696],
  edge_attr=[12696, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[1977, 27],
  pos=[1977, 3],
  norm=[1977, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11862],
  edge_attr=[11862, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2043, 27],
  pos=[2043, 3],
  norm=[2043, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12258],
  edge_attr=[12258, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2100, 27],
  pos=[2100, 3],
  norm=[2100, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12600],
  edge_attr=[12600, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2109, 27],
  pos=[2109, 3],
  norm=[2109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12654],
  edge_attr=[12654, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'rubiks_cube',
 '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: rubiks_cube
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2224, 27],
  pos=[2224, 3],
  norm=[2224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13344],
  edge_attr=[13344, 3]
)

---Updating memory of learning_module_1---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2085, 27],
  pos=[2085, 3],
  norm=[2085, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12510],
  edge_attr=[12510, 3]
)

---Updating memory of learning_module_2---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2156, 27],
  pos=[2156, 3],
  norm=[2156, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12936],
  edge_attr=[12936, 3]
)

---Updating memory of learning_module_3---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2195, 27],
  pos=[2195, 3],
  norm=[2195, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13170],
  edge_attr=[13170, 3]
)

---Updating memory of learning_module_4---
rubiks_cube already in memory (['rubiks_cube'])
Updating existing graph for rubiks_cube
building graph
Extended graph rubiks_cube with new points. New model:
Data(
  x=[2217, 27],
  pos=[2217, 3],
  norm=[2217, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13302],
  edge_attr=[13302, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'rubiks_cube',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_rubiks_cube/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id f_lego_duplo
built graph Data(
  x=[194, 27],
  pos=[194, 3],
  norm=[194, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1164],
  edge_attr=[1164, 3]
)
Added new graph with id f_lego_duplo to memory.

---Updating memory of learning_module_1---
f_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id f_lego_duplo
built graph 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]
)
Added new graph with id f_lego_duplo to memory.

---Updating memory of learning_module_2---
f_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id f_lego_duplo
built graph 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]
)
Added new graph with id f_lego_duplo to memory.

---Updating memory of learning_module_3---
f_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id f_lego_duplo
built graph 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]
)
Added new graph with id f_lego_duplo to memory.

---Updating memory of learning_module_4---
f_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id f_lego_duplo
built graph Data(
  x=[160, 27],
  pos=[160, 3],
  norm=[160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 960],
  edge_attr=[960, 3]
)
Added new graph with id f_lego_duplo to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[388, 27],
  pos=[388, 3],
  norm=[388, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2328],
  edge_attr=[2328, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[322, 27],
  pos=[322, 3],
  norm=[322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1932],
  edge_attr=[1932, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[370, 27],
  pos=[370, 3],
  norm=[370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2220],
  edge_attr=[2220, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[369, 27],
  pos=[369, 3],
  norm=[369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2214],
  edge_attr=[2214, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[322, 27],
  pos=[322, 3],
  norm=[322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1932],
  edge_attr=[1932, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[483, 27],
  pos=[483, 3],
  norm=[483, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2898],
  edge_attr=[2898, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[554, 27],
  pos=[554, 3],
  norm=[554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3324],
  edge_attr=[3324, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[554, 27],
  pos=[554, 3],
  norm=[554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3324],
  edge_attr=[3324, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[877, 27],
  pos=[877, 3],
  norm=[877, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5262],
  edge_attr=[5262, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[738, 27],
  pos=[738, 3],
  norm=[738, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4428],
  edge_attr=[4428, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[752, 27],
  pos=[752, 3],
  norm=[752, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4512],
  edge_attr=[4512, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[858, 27],
  pos=[858, 3],
  norm=[858, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5148],
  edge_attr=[5148, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[953, 27],
  pos=[953, 3],
  norm=[953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5718],
  edge_attr=[5718, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[881, 27],
  pos=[881, 3],
  norm=[881, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5286],
  edge_attr=[5286, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1062, 27],
  pos=[1062, 3],
  norm=[1062, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6372],
  edge_attr=[6372, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[911, 27],
  pos=[911, 3],
  norm=[911, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5466],
  edge_attr=[5466, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1034, 27],
  pos=[1034, 3],
  norm=[1034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6204],
  edge_attr=[6204, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[950, 27],
  pos=[950, 3],
  norm=[950, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5700],
  edge_attr=[5700, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1109, 27],
  pos=[1109, 3],
  norm=[1109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6654],
  edge_attr=[6654, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[979, 27],
  pos=[979, 3],
  norm=[979, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5874],
  edge_attr=[5874, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1062, 27],
  pos=[1062, 3],
  norm=[1062, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6372],
  edge_attr=[6372, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1087, 27],
  pos=[1087, 3],
  norm=[1087, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6522],
  edge_attr=[6522, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1005, 27],
  pos=[1005, 3],
  norm=[1005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6030],
  edge_attr=[6030, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1170, 27],
  pos=[1170, 3],
  norm=[1170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7020],
  edge_attr=[7020, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1109, 27],
  pos=[1109, 3],
  norm=[1109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6654],
  edge_attr=[6654, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1151, 27],
  pos=[1151, 3],
  norm=[1151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6906],
  edge_attr=[6906, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1078, 27],
  pos=[1078, 3],
  norm=[1078, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6468],
  edge_attr=[6468, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1097, 27],
  pos=[1097, 3],
  norm=[1097, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6582],
  edge_attr=[6582, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1162, 27],
  pos=[1162, 3],
  norm=[1162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6972],
  edge_attr=[6972, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1201, 27],
  pos=[1201, 3],
  norm=[1201, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7206],
  edge_attr=[7206, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1139, 27],
  pos=[1139, 3],
  norm=[1139, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6834],
  edge_attr=[6834, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1273, 27],
  pos=[1273, 3],
  norm=[1273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7638],
  edge_attr=[7638, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1157, 27],
  pos=[1157, 3],
  norm=[1157, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6942],
  edge_attr=[6942, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1266, 27],
  pos=[1266, 3],
  norm=[1266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7596],
  edge_attr=[7596, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_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 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1326, 27],
  pos=[1326, 3],
  norm=[1326, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7956],
  edge_attr=[7956, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1207, 27],
  pos=[1207, 3],
  norm=[1207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7242],
  edge_attr=[7242, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1267, 27],
  pos=[1267, 3],
  norm=[1267, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7602],
  edge_attr=[7602, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1265, 27],
  pos=[1265, 3],
  norm=[1265, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7590],
  edge_attr=[7590, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1374, 27],
  pos=[1374, 3],
  norm=[1374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8244],
  edge_attr=[8244, 3]
)

---Updating memory of learning_module_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1268, 27],
  pos=[1268, 3],
  norm=[1268, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7608],
  edge_attr=[7608, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1318, 27],
  pos=[1318, 3],
  norm=[1318, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7908],
  edge_attr=[7908, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1373, 27],
  pos=[1373, 3],
  norm=[1373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8238],
  edge_attr=[8238, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1337, 27],
  pos=[1337, 3],
  norm=[1337, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8022],
  edge_attr=[8022, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'f_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: f_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo 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_1---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1310, 27],
  pos=[1310, 3],
  norm=[1310, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7860],
  edge_attr=[7860, 3]
)

---Updating memory of learning_module_2---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1376, 27],
  pos=[1376, 3],
  norm=[1376, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8256],
  edge_attr=[8256, 3]
)

---Updating memory of learning_module_3---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1426, 27],
  pos=[1426, 3],
  norm=[1426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8556],
  edge_attr=[8556, 3]
)

---Updating memory of learning_module_4---
f_lego_duplo already in memory (['f_lego_duplo'])
Updating existing graph for f_lego_duplo
building graph
Extended graph f_lego_duplo with new points. New model:
Data(
  x=[1382, 27],
  pos=[1382, 3],
  norm=[1382, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8292],
  edge_attr=[8292, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'f_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_f_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups not in memory ([])
Adding a new graph to memory.
init object model with id a_cups
built graph Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)
Added new graph with id a_cups to memory.

---Updating memory of learning_module_1---
a_cups not in memory ([])
Adding a new graph to memory.
init object model with id a_cups
built graph 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]
)
Added new graph with id a_cups to memory.

---Updating memory of learning_module_2---
a_cups not in memory ([])
Adding a new graph to memory.
init object model with id a_cups
built graph Data(
  x=[176, 27],
  pos=[176, 3],
  norm=[176, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1056],
  edge_attr=[1056, 3]
)
Added new graph with id a_cups to memory.

---Updating memory of learning_module_3---
a_cups not in memory ([])
Adding a new graph to memory.
init object model with id a_cups
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 a_cups to memory.

---Updating memory of learning_module_4---
a_cups not in memory ([])
Adding a new graph to memory.
init object model with id a_cups
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 a_cups to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[379, 27],
  pos=[379, 3],
  norm=[379, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2274],
  edge_attr=[2274, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[417, 27],
  pos=[417, 3],
  norm=[417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2502],
  edge_attr=[2502, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[566, 27],
  pos=[566, 3],
  norm=[566, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3396],
  edge_attr=[3396, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[528, 27],
  pos=[528, 3],
  norm=[528, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3168],
  edge_attr=[3168, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[753, 27],
  pos=[753, 3],
  norm=[753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4518],
  edge_attr=[4518, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[702, 27],
  pos=[702, 3],
  norm=[702, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4212],
  edge_attr=[4212, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[839, 27],
  pos=[839, 3],
  norm=[839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5034],
  edge_attr=[5034, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1035, 27],
  pos=[1035, 3],
  norm=[1035, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6210],
  edge_attr=[6210, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[963, 27],
  pos=[963, 3],
  norm=[963, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5778],
  edge_attr=[5778, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[923, 27],
  pos=[923, 3],
  norm=[923, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5538],
  edge_attr=[5538, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1175, 27],
  pos=[1175, 3],
  norm=[1175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7050],
  edge_attr=[7050, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1095, 27],
  pos=[1095, 3],
  norm=[1095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6570],
  edge_attr=[6570, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1055, 27],
  pos=[1055, 3],
  norm=[1055, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6330],
  edge_attr=[6330, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1180, 27],
  pos=[1180, 3],
  norm=[1180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7080],
  edge_attr=[7080, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1274, 27],
  pos=[1274, 3],
  norm=[1274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7644],
  edge_attr=[7644, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1180, 27],
  pos=[1180, 3],
  norm=[1180, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7080],
  edge_attr=[7080, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1284, 27],
  pos=[1284, 3],
  norm=[1284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7704],
  edge_attr=[7704, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1279, 27],
  pos=[1279, 3],
  norm=[1279, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7674],
  edge_attr=[7674, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1281, 27],
  pos=[1281, 3],
  norm=[1281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7686],
  edge_attr=[7686, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1240, 27],
  pos=[1240, 3],
  norm=[1240, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7440],
  edge_attr=[7440, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1372, 27],
  pos=[1372, 3],
  norm=[1372, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8232],
  edge_attr=[8232, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1368, 27],
  pos=[1368, 3],
  norm=[1368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8208],
  edge_attr=[8208, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1464, 27],
  pos=[1464, 3],
  norm=[1464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8784],
  edge_attr=[8784, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1368, 27],
  pos=[1368, 3],
  norm=[1368, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8208],
  edge_attr=[8208, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1348, 27],
  pos=[1348, 3],
  norm=[1348, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8088],
  edge_attr=[8088, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1473, 27],
  pos=[1473, 3],
  norm=[1473, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8838],
  edge_attr=[8838, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1458, 27],
  pos=[1458, 3],
  norm=[1458, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8748],
  edge_attr=[8748, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1552, 27],
  pos=[1552, 3],
  norm=[1552, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9312],
  edge_attr=[9312, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1461, 27],
  pos=[1461, 3],
  norm=[1461, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8766],
  edge_attr=[8766, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1427, 27],
  pos=[1427, 3],
  norm=[1427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8562],
  edge_attr=[8562, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1565, 27],
  pos=[1565, 3],
  norm=[1565, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9390],
  edge_attr=[9390, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1547, 27],
  pos=[1547, 3],
  norm=[1547, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9282],
  edge_attr=[9282, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1647, 27],
  pos=[1647, 3],
  norm=[1647, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9882],
  edge_attr=[9882, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1562, 27],
  pos=[1562, 3],
  norm=[1562, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9372],
  edge_attr=[9372, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1513, 27],
  pos=[1513, 3],
  norm=[1513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9078],
  edge_attr=[9078, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1670, 27],
  pos=[1670, 3],
  norm=[1670, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10020],
  edge_attr=[10020, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1635, 27],
  pos=[1635, 3],
  norm=[1635, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9810],
  edge_attr=[9810, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1736, 27],
  pos=[1736, 3],
  norm=[1736, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10416],
  edge_attr=[10416, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1626, 27],
  pos=[1626, 3],
  norm=[1626, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9756],
  edge_attr=[9756, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1612, 27],
  pos=[1612, 3],
  norm=[1612, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9672],
  edge_attr=[9672, 3]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1751, 27],
  pos=[1751, 3],
  norm=[1751, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10506],
  edge_attr=[10506, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1725, 27],
  pos=[1725, 3],
  norm=[1725, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10350],
  edge_attr=[10350, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1831, 27],
  pos=[1831, 3],
  norm=[1831, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10986],
  edge_attr=[10986, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1727, 27],
  pos=[1727, 3],
  norm=[1727, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10362],
  edge_attr=[10362, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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]
)

---Updating memory of learning_module_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1820, 27],
  pos=[1820, 3],
  norm=[1820, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10920],
  edge_attr=[10920, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'a_cups',
 '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: a_cups
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1923, 27],
  pos=[1923, 3],
  norm=[1923, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11538],
  edge_attr=[11538, 3]
)

---Updating memory of learning_module_1---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1795, 27],
  pos=[1795, 3],
  norm=[1795, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10770],
  edge_attr=[10770, 3]
)

---Updating memory of learning_module_2---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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_3---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups with new points. New model:
Data(
  x=[1929, 27],
  pos=[1929, 3],
  norm=[1929, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11574],
  edge_attr=[11574, 3]
)

---Updating memory of learning_module_4---
a_cups already in memory (['a_cups'])
Updating existing graph for a_cups
building graph
Extended graph a_cups 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 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'a_cups',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_a_cups/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid not in memory ([])
Adding a new graph to memory.
init object model with id skillet_lid
built graph Data(
  x=[46, 27],
  pos=[46, 3],
  norm=[46, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 276],
  edge_attr=[276, 3]
)
Added new graph with id skillet_lid to memory.

---Updating memory of learning_module_1---
skillet_lid not in memory ([])
Adding a new graph to memory.
init object model with id skillet_lid
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 skillet_lid to memory.

---Updating memory of learning_module_2---
skillet_lid not in memory ([])
Adding a new graph to memory.
init object model with id skillet_lid
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 skillet_lid to memory.

---Updating memory of learning_module_3---
skillet_lid not in memory ([])
Adding a new graph to memory.
init object model with id skillet_lid
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 skillet_lid to memory.

---Updating memory of learning_module_4---
skillet_lid not in memory ([])
Adding a new graph to memory.
init object model with id skillet_lid
built graph Data(
  x=[41, 27],
  pos=[41, 3],
  norm=[41, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 246],
  edge_attr=[246, 3]
)
Added new graph with id skillet_lid to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
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]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[150, 27],
  pos=[150, 3],
  norm=[150, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 900],
  edge_attr=[900, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
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]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[162, 27],
  pos=[162, 3],
  norm=[162, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 972],
  edge_attr=[972, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[154, 27],
  pos=[154, 3],
  norm=[154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 924],
  edge_attr=[924, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[155, 27],
  pos=[155, 3],
  norm=[155, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 930],
  edge_attr=[930, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[209, 27],
  pos=[209, 3],
  norm=[209, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1254],
  edge_attr=[1254, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[374, 27],
  pos=[374, 3],
  norm=[374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2244],
  edge_attr=[2244, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[496, 27],
  pos=[496, 3],
  norm=[496, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2976],
  edge_attr=[2976, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[468, 27],
  pos=[468, 3],
  norm=[468, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2808],
  edge_attr=[2808, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[497, 27],
  pos=[497, 3],
  norm=[497, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2982],
  edge_attr=[2982, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[490, 27],
  pos=[490, 3],
  norm=[490, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2940],
  edge_attr=[2940, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[512, 27],
  pos=[512, 3],
  norm=[512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3072],
  edge_attr=[3072, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[548, 27],
  pos=[548, 3],
  norm=[548, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3288],
  edge_attr=[3288, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[519, 27],
  pos=[519, 3],
  norm=[519, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3114],
  edge_attr=[3114, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[546, 27],
  pos=[546, 3],
  norm=[546, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3276],
  edge_attr=[3276, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[548, 27],
  pos=[548, 3],
  norm=[548, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3288],
  edge_attr=[3288, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[563, 27],
  pos=[563, 3],
  norm=[563, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3378],
  edge_attr=[3378, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[616, 27],
  pos=[616, 3],
  norm=[616, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3696],
  edge_attr=[3696, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[590, 27],
  pos=[590, 3],
  norm=[590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3540],
  edge_attr=[3540, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[704, 27],
  pos=[704, 3],
  norm=[704, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4224],
  edge_attr=[4224, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[674, 27],
  pos=[674, 3],
  norm=[674, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4044],
  edge_attr=[4044, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[690, 27],
  pos=[690, 3],
  norm=[690, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4140],
  edge_attr=[4140, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[716, 27],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4296],
  edge_attr=[4296, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[717, 27],
  pos=[717, 3],
  norm=[717, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4302],
  edge_attr=[4302, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[770, 27],
  pos=[770, 3],
  norm=[770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4620],
  edge_attr=[4620, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[747, 27],
  pos=[747, 3],
  norm=[747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4482],
  edge_attr=[4482, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[777, 27],
  pos=[777, 3],
  norm=[777, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4662],
  edge_attr=[4662, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[785, 27],
  pos=[785, 3],
  norm=[785, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4710],
  edge_attr=[4710, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[815, 27],
  pos=[815, 3],
  norm=[815, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4890],
  edge_attr=[4890, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[873, 27],
  pos=[873, 3],
  norm=[873, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5238],
  edge_attr=[5238, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[897, 27],
  pos=[897, 3],
  norm=[897, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5382],
  edge_attr=[5382, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[911, 27],
  pos=[911, 3],
  norm=[911, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5466],
  edge_attr=[5466, 3]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[934, 27],
  pos=[934, 3],
  norm=[934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5604],
  edge_attr=[5604, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[961, 27],
  pos=[961, 3],
  norm=[961, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5766],
  edge_attr=[5766, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[958, 27],
  pos=[958, 3],
  norm=[958, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5748],
  edge_attr=[5748, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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]
)

---Updating memory of learning_module_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1005, 27],
  pos=[1005, 3],
  norm=[1005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6030],
  edge_attr=[6030, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1019, 27],
  pos=[1019, 3],
  norm=[1019, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6114],
  edge_attr=[6114, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'skillet_lid',
 '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: skillet_lid
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1063, 27],
  pos=[1063, 3],
  norm=[1063, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6378],
  edge_attr=[6378, 3]
)

---Updating memory of learning_module_1---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1024, 27],
  pos=[1024, 3],
  norm=[1024, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6144],
  edge_attr=[6144, 3]
)

---Updating memory of learning_module_2---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid 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_3---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1061, 27],
  pos=[1061, 3],
  norm=[1061, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6366],
  edge_attr=[6366, 3]
)

---Updating memory of learning_module_4---
skillet_lid already in memory (['skillet_lid'])
Updating existing graph for skillet_lid
building graph
Extended graph skillet_lid with new points. New model:
Data(
  x=[1098, 27],
  pos=[1098, 3],
  norm=[1098, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6588],
  edge_attr=[6588, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'skillet_lid',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_skillet_lid/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge not in memory ([])
Adding a new graph to memory.
init object model with id sponge
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 sponge to memory.

---Updating memory of learning_module_1---
sponge not in memory ([])
Adding a new graph to memory.
init object model with id sponge
built graph Data(
  x=[92, 27],
  pos=[92, 3],
  norm=[92, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 552],
  edge_attr=[552, 3]
)
Added new graph with id sponge to memory.

---Updating memory of learning_module_2---
sponge not in memory ([])
Adding a new graph to memory.
init object model with id sponge
built graph Data(
  x=[82, 27],
  pos=[82, 3],
  norm=[82, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 492],
  edge_attr=[492, 3]
)
Added new graph with id sponge to memory.

---Updating memory of learning_module_3---
sponge not in memory ([])
Adding a new graph to memory.
init object model with id sponge
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id sponge to memory.

---Updating memory of learning_module_4---
sponge not in memory ([])
Adding a new graph to memory.
init object model with id sponge
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id sponge to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[189, 27],
  pos=[189, 3],
  norm=[189, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1134],
  edge_attr=[1134, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[187, 27],
  pos=[187, 3],
  norm=[187, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1122],
  edge_attr=[1122, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[262, 27],
  pos=[262, 3],
  norm=[262, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1572],
  edge_attr=[1572, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[255, 27],
  pos=[255, 3],
  norm=[255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1530],
  edge_attr=[1530, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[253, 27],
  pos=[253, 3],
  norm=[253, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1518],
  edge_attr=[1518, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[338, 27],
  pos=[338, 3],
  norm=[338, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2028],
  edge_attr=[2028, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[354, 27],
  pos=[354, 3],
  norm=[354, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2124],
  edge_attr=[2124, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[563, 27],
  pos=[563, 3],
  norm=[563, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3378],
  edge_attr=[3378, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[558, 27],
  pos=[558, 3],
  norm=[558, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3348],
  edge_attr=[3348, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[553, 27],
  pos=[553, 3],
  norm=[553, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3318],
  edge_attr=[3318, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[561, 27],
  pos=[561, 3],
  norm=[561, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3366],
  edge_attr=[3366, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[778, 27],
  pos=[778, 3],
  norm=[778, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4668],
  edge_attr=[4668, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[878, 27],
  pos=[878, 3],
  norm=[878, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5268],
  edge_attr=[5268, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[863, 27],
  pos=[863, 3],
  norm=[863, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5178],
  edge_attr=[5178, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[876, 27],
  pos=[876, 3],
  norm=[876, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5256],
  edge_attr=[5256, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[953, 27],
  pos=[953, 3],
  norm=[953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5718],
  edge_attr=[5718, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[961, 27],
  pos=[961, 3],
  norm=[961, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5766],
  edge_attr=[5766, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1017, 27],
  pos=[1017, 3],
  norm=[1017, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6102],
  edge_attr=[6102, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[967, 27],
  pos=[967, 3],
  norm=[967, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5802],
  edge_attr=[5802, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1078, 27],
  pos=[1078, 3],
  norm=[1078, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6468],
  edge_attr=[6468, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1031, 27],
  pos=[1031, 3],
  norm=[1031, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6186],
  edge_attr=[6186, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1048, 27],
  pos=[1048, 3],
  norm=[1048, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6288],
  edge_attr=[6288, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1101, 27],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6606],
  edge_attr=[6606, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1071, 27],
  pos=[1071, 3],
  norm=[1071, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6426],
  edge_attr=[6426, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1177, 27],
  pos=[1177, 3],
  norm=[1177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7062],
  edge_attr=[7062, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1119, 27],
  pos=[1119, 3],
  norm=[1119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6714],
  edge_attr=[6714, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1143, 27],
  pos=[1143, 3],
  norm=[1143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6858],
  edge_attr=[6858, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1183, 27],
  pos=[1183, 3],
  norm=[1183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7098],
  edge_attr=[7098, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1181, 27],
  pos=[1181, 3],
  norm=[1181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7086],
  edge_attr=[7086, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1249, 27],
  pos=[1249, 3],
  norm=[1249, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7494],
  edge_attr=[7494, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1179, 27],
  pos=[1179, 3],
  norm=[1179, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7074],
  edge_attr=[7074, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1223, 27],
  pos=[1223, 3],
  norm=[1223, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7338],
  edge_attr=[7338, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1257, 27],
  pos=[1257, 3],
  norm=[1257, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7542],
  edge_attr=[7542, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1344, 27],
  pos=[1344, 3],
  norm=[1344, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8064],
  edge_attr=[8064, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1259, 27],
  pos=[1259, 3],
  norm=[1259, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7554],
  edge_attr=[7554, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1316, 27],
  pos=[1316, 3],
  norm=[1316, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7896],
  edge_attr=[7896, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1342, 27],
  pos=[1342, 3],
  norm=[1342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8052],
  edge_attr=[8052, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1357, 27],
  pos=[1357, 3],
  norm=[1357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8142],
  edge_attr=[8142, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1448, 27],
  pos=[1448, 3],
  norm=[1448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8688],
  edge_attr=[8688, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1353, 27],
  pos=[1353, 3],
  norm=[1353, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8118],
  edge_attr=[8118, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1408, 27],
  pos=[1408, 3],
  norm=[1408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8448],
  edge_attr=[8448, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1455, 27],
  pos=[1455, 3],
  norm=[1455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8730],
  edge_attr=[8730, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'sponge',
 '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: sponge
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1512, 27],
  pos=[1512, 3],
  norm=[1512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9072],
  edge_attr=[9072, 3]
)

---Updating memory of learning_module_1---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1419, 27],
  pos=[1419, 3],
  norm=[1419, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8514],
  edge_attr=[8514, 3]
)

---Updating memory of learning_module_2---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1466, 27],
  pos=[1466, 3],
  norm=[1466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8796],
  edge_attr=[8796, 3]
)

---Updating memory of learning_module_3---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge with new points. New model:
Data(
  x=[1527, 27],
  pos=[1527, 3],
  norm=[1527, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9162],
  edge_attr=[9162, 3]
)

---Updating memory of learning_module_4---
sponge already in memory (['sponge'])
Updating existing graph for sponge
building graph
Extended graph sponge 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]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'sponge',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_sponge/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball not in memory ([])
Adding a new graph to memory.
init object model with id tennis_ball
built graph Data(
  x=[145, 27],
  pos=[145, 3],
  norm=[145, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 870],
  edge_attr=[870, 3]
)
Added new graph with id tennis_ball to memory.

---Updating memory of learning_module_1---
tennis_ball not in memory ([])
Adding a new graph to memory.
init object model with id tennis_ball
built graph Data(
  x=[141, 27],
  pos=[141, 3],
  norm=[141, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 846],
  edge_attr=[846, 3]
)
Added new graph with id tennis_ball to memory.

---Updating memory of learning_module_2---
tennis_ball not in memory ([])
Adding a new graph to memory.
init object model with id tennis_ball
built graph Data(
  x=[144, 27],
  pos=[144, 3],
  norm=[144, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 864],
  edge_attr=[864, 3]
)
Added new graph with id tennis_ball to memory.

---Updating memory of learning_module_3---
tennis_ball not in memory ([])
Adding a new graph to memory.
init object model with id tennis_ball
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id tennis_ball to memory.

---Updating memory of learning_module_4---
tennis_ball not in memory ([])
Adding a new graph to memory.
init object model with id tennis_ball
built graph Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)
Added new graph with id tennis_ball to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[289, 27],
  pos=[289, 3],
  norm=[289, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1734],
  edge_attr=[1734, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[284, 27],
  pos=[284, 3],
  norm=[284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1704],
  edge_attr=[1704, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[296, 27],
  pos=[296, 3],
  norm=[296, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1776],
  edge_attr=[1776, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[431, 27],
  pos=[431, 3],
  norm=[431, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2586],
  edge_attr=[2586, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[577, 27],
  pos=[577, 3],
  norm=[577, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3462],
  edge_attr=[3462, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[575, 27],
  pos=[575, 3],
  norm=[575, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3450],
  edge_attr=[3450, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[591, 27],
  pos=[591, 3],
  norm=[591, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3546],
  edge_attr=[3546, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[590, 27],
  pos=[590, 3],
  norm=[590, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3540],
  edge_attr=[3540, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[720, 27],
  pos=[720, 3],
  norm=[720, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4320],
  edge_attr=[4320, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[714, 27],
  pos=[714, 3],
  norm=[714, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4284],
  edge_attr=[4284, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[717, 27],
  pos=[717, 3],
  norm=[717, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4302],
  edge_attr=[4302, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[738, 27],
  pos=[738, 3],
  norm=[738, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4428],
  edge_attr=[4428, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_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]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[858, 27],
  pos=[858, 3],
  norm=[858, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5148],
  edge_attr=[5148, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[860, 27],
  pos=[860, 3],
  norm=[860, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5160],
  edge_attr=[5160, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[886, 27],
  pos=[886, 3],
  norm=[886, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5316],
  edge_attr=[5316, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[977, 27],
  pos=[977, 3],
  norm=[977, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5862],
  edge_attr=[5862, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1019, 27],
  pos=[1019, 3],
  norm=[1019, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6114],
  edge_attr=[6114, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1011, 27],
  pos=[1011, 3],
  norm=[1011, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6066],
  edge_attr=[6066, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1109, 27],
  pos=[1109, 3],
  norm=[1109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6654],
  edge_attr=[6654, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1095, 27],
  pos=[1095, 3],
  norm=[1095, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6570],
  edge_attr=[6570, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1100, 27],
  pos=[1100, 3],
  norm=[1100, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6600],
  edge_attr=[6600, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1144, 27],
  pos=[1144, 3],
  norm=[1144, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6864],
  edge_attr=[6864, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1124, 27],
  pos=[1124, 3],
  norm=[1124, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6744],
  edge_attr=[6744, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1214, 27],
  pos=[1214, 3],
  norm=[1214, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7284],
  edge_attr=[7284, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1266, 27],
  pos=[1266, 3],
  norm=[1266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7596],
  edge_attr=[7596, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1355, 27],
  pos=[1355, 3],
  norm=[1355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8130],
  edge_attr=[8130, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1330, 27],
  pos=[1330, 3],
  norm=[1330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7980],
  edge_attr=[7980, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1339, 27],
  pos=[1339, 3],
  norm=[1339, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8034],
  edge_attr=[8034, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1370, 27],
  pos=[1370, 3],
  norm=[1370, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8220],
  edge_attr=[8220, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1482, 27],
  pos=[1482, 3],
  norm=[1482, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8892],
  edge_attr=[8892, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1452, 27],
  pos=[1452, 3],
  norm=[1452, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8712],
  edge_attr=[8712, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1452, 27],
  pos=[1452, 3],
  norm=[1452, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8712],
  edge_attr=[8712, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball 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_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1500, 27],
  pos=[1500, 3],
  norm=[1500, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9000],
  edge_attr=[9000, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1598, 27],
  pos=[1598, 3],
  norm=[1598, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9588],
  edge_attr=[9588, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1555, 27],
  pos=[1555, 3],
  norm=[1555, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9330],
  edge_attr=[9330, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1573, 27],
  pos=[1573, 3],
  norm=[1573, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9438],
  edge_attr=[9438, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1624, 27],
  pos=[1624, 3],
  norm=[1624, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9744],
  edge_attr=[9744, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1623, 27],
  pos=[1623, 3],
  norm=[1623, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9738],
  edge_attr=[9738, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1722, 27],
  pos=[1722, 3],
  norm=[1722, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10332],
  edge_attr=[10332, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1679, 27],
  pos=[1679, 3],
  norm=[1679, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10074],
  edge_attr=[10074, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1685, 27],
  pos=[1685, 3],
  norm=[1685, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10110],
  edge_attr=[10110, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1751, 27],
  pos=[1751, 3],
  norm=[1751, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10506],
  edge_attr=[10506, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1753, 27],
  pos=[1753, 3],
  norm=[1753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10518],
  edge_attr=[10518, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'tennis_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: tennis_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1842, 27],
  pos=[1842, 3],
  norm=[1842, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11052],
  edge_attr=[11052, 3]
)

---Updating memory of learning_module_1---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1792, 27],
  pos=[1792, 3],
  norm=[1792, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10752],
  edge_attr=[10752, 3]
)

---Updating memory of learning_module_2---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1806, 27],
  pos=[1806, 3],
  norm=[1806, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10836],
  edge_attr=[10836, 3]
)

---Updating memory of learning_module_3---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1875, 27],
  pos=[1875, 3],
  norm=[1875, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11250],
  edge_attr=[11250, 3]
)

---Updating memory of learning_module_4---
tennis_ball already in memory (['tennis_ball'])
Updating existing graph for tennis_ball
building graph
Extended graph tennis_ball with new points. New model:
Data(
  x=[1871, 27],
  pos=[1871, 3],
  norm=[1871, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11226],
  edge_attr=[11226, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tennis_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_tennis_ball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula not in memory ([])
Adding a new graph to memory.
init object model with id spatula
built graph Data(
  x=[38, 27],
  pos=[38, 3],
  norm=[38, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 228],
  edge_attr=[228, 3]
)
Added new graph with id spatula to memory.

---Updating memory of learning_module_1---
spatula not in memory ([])
Adding a new graph to memory.
init object model with id spatula
built graph Data(
  x=[40, 27],
  pos=[40, 3],
  norm=[40, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 240],
  edge_attr=[240, 3]
)
Added new graph with id spatula to memory.

---Updating memory of learning_module_2---
spatula not in memory ([])
Adding a new graph to memory.
init object model with id spatula
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 spatula to memory.

---Updating memory of learning_module_3---
spatula not in memory ([])
Adding a new graph to memory.
init object model with id spatula
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 spatula to memory.

---Updating memory of learning_module_4---
spatula not in memory ([])
Adding a new graph to memory.
init object model with id spatula
built graph Data(
  x=[40, 27],
  pos=[40, 3],
  norm=[40, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 240],
  edge_attr=[240, 3]
)
Added new graph with id spatula to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[61, 27],
  pos=[61, 3],
  norm=[61, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 366],
  edge_attr=[366, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[70, 27],
  pos=[70, 3],
  norm=[70, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 420],
  edge_attr=[420, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[68, 27],
  pos=[68, 3],
  norm=[68, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 408],
  edge_attr=[408, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
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]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[70, 27],
  pos=[70, 3],
  norm=[70, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 420],
  edge_attr=[420, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
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]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
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]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
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]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[199, 27],
  pos=[199, 3],
  norm=[199, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1194],
  edge_attr=[1194, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[265, 27],
  pos=[265, 3],
  norm=[265, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1590],
  edge_attr=[1590, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[297, 27],
  pos=[297, 3],
  norm=[297, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1782],
  edge_attr=[1782, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[260, 27],
  pos=[260, 3],
  norm=[260, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1560],
  edge_attr=[1560, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[283, 27],
  pos=[283, 3],
  norm=[283, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1698],
  edge_attr=[1698, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[374, 27],
  pos=[374, 3],
  norm=[374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2244],
  edge_attr=[2244, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[296, 27],
  pos=[296, 3],
  norm=[296, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1776],
  edge_attr=[1776, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[329, 27],
  pos=[329, 3],
  norm=[329, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1974],
  edge_attr=[1974, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[356, 27],
  pos=[356, 3],
  norm=[356, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2136],
  edge_attr=[2136, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[388, 27],
  pos=[388, 3],
  norm=[388, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2328],
  edge_attr=[2328, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[342, 27],
  pos=[342, 3],
  norm=[342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2052],
  edge_attr=[2052, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[457, 27],
  pos=[457, 3],
  norm=[457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2742],
  edge_attr=[2742, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[440, 27],
  pos=[440, 3],
  norm=[440, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2640],
  edge_attr=[2640, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[523, 27],
  pos=[523, 3],
  norm=[523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3138],
  edge_attr=[3138, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[574, 27],
  pos=[574, 3],
  norm=[574, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3444],
  edge_attr=[3444, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[465, 27],
  pos=[465, 3],
  norm=[465, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2790],
  edge_attr=[2790, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[529, 27],
  pos=[529, 3],
  norm=[529, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3174],
  edge_attr=[3174, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[572, 27],
  pos=[572, 3],
  norm=[572, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3432],
  edge_attr=[3432, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[654, 27],
  pos=[654, 3],
  norm=[654, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3924],
  edge_attr=[3924, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[615, 27],
  pos=[615, 3],
  norm=[615, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3690],
  edge_attr=[3690, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[672, 27],
  pos=[672, 3],
  norm=[672, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4032],
  edge_attr=[4032, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[704, 27],
  pos=[704, 3],
  norm=[704, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4224],
  edge_attr=[4224, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[710, 27],
  pos=[710, 3],
  norm=[710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4260],
  edge_attr=[4260, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[770, 27],
  pos=[770, 3],
  norm=[770, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4620],
  edge_attr=[4620, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[688, 27],
  pos=[688, 3],
  norm=[688, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4128],
  edge_attr=[4128, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[789, 27],
  pos=[789, 3],
  norm=[789, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4734],
  edge_attr=[4734, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[817, 27],
  pos=[817, 3],
  norm=[817, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4902],
  edge_attr=[4902, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[840, 27],
  pos=[840, 3],
  norm=[840, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5040],
  edge_attr=[5040, 3]
)

---Updating memory of learning_module_2---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[766, 27],
  pos=[766, 3],
  norm=[766, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4596],
  edge_attr=[4596, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[855, 27],
  pos=[855, 3],
  norm=[855, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5130],
  edge_attr=[5130, 3]
)

---Updating memory of learning_module_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[806, 27],
  pos=[806, 3],
  norm=[806, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4836],
  edge_attr=[4836, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'spatula',
 '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: spatula
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[869, 27],
  pos=[869, 3],
  norm=[869, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5214],
  edge_attr=[5214, 3]
)

---Updating memory of learning_module_1---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula with new points. New model:
Data(
  x=[798, 27],
  pos=[798, 3],
  norm=[798, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4788],
  edge_attr=[4788, 3]
)

---Updating memory of learning_module_3---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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_4---
spatula already in memory (['spatula'])
Updating existing graph for spatula
building graph
Extended graph spatula 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]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'spatula',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_spatula/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id d_toy_airplane
built graph 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]
)
Added new graph with id d_toy_airplane to memory.

---Updating memory of learning_module_1---
d_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id d_toy_airplane
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 d_toy_airplane to memory.

---Updating memory of learning_module_2---
d_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id d_toy_airplane
built graph Data(
  x=[112, 27],
  pos=[112, 3],
  norm=[112, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 672],
  edge_attr=[672, 3]
)
Added new graph with id d_toy_airplane to memory.

---Updating memory of learning_module_3---
d_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id d_toy_airplane
built graph 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]
)
Added new graph with id d_toy_airplane to memory.

---Updating memory of learning_module_4---
d_toy_airplane not in memory ([])
Adding a new graph to memory.
init object model with id d_toy_airplane
built graph 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]
)
Added new graph with id d_toy_airplane to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[181, 27],
  pos=[181, 3],
  norm=[181, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1086],
  edge_attr=[1086, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[142, 27],
  pos=[142, 3],
  norm=[142, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 852],
  edge_attr=[852, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[273, 27],
  pos=[273, 3],
  norm=[273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1638],
  edge_attr=[1638, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[214, 27],
  pos=[214, 3],
  norm=[214, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1284],
  edge_attr=[1284, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[315, 27],
  pos=[315, 3],
  norm=[315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1890],
  edge_attr=[1890, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[273, 27],
  pos=[273, 3],
  norm=[273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1638],
  edge_attr=[1638, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[272, 27],
  pos=[272, 3],
  norm=[272, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1632],
  edge_attr=[1632, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[346, 27],
  pos=[346, 3],
  norm=[346, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2076],
  edge_attr=[2076, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[402, 27],
  pos=[402, 3],
  norm=[402, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2412],
  edge_attr=[2412, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[284, 27],
  pos=[284, 3],
  norm=[284, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1704],
  edge_attr=[1704, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[468, 27],
  pos=[468, 3],
  norm=[468, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2808],
  edge_attr=[2808, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[521, 27],
  pos=[521, 3],
  norm=[521, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3126],
  edge_attr=[3126, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[475, 27],
  pos=[475, 3],
  norm=[475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2850],
  edge_attr=[2850, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[478, 27],
  pos=[478, 3],
  norm=[478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2868],
  edge_attr=[2868, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[447, 27],
  pos=[447, 3],
  norm=[447, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2682],
  edge_attr=[2682, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[586, 27],
  pos=[586, 3],
  norm=[586, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3516],
  edge_attr=[3516, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[556, 27],
  pos=[556, 3],
  norm=[556, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3336],
  edge_attr=[3336, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[544, 27],
  pos=[544, 3],
  norm=[544, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3264],
  edge_attr=[3264, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[578, 27],
  pos=[578, 3],
  norm=[578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3468],
  edge_attr=[3468, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[494, 27],
  pos=[494, 3],
  norm=[494, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2964],
  edge_attr=[2964, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[636, 27],
  pos=[636, 3],
  norm=[636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3816],
  edge_attr=[3816, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[601, 27],
  pos=[601, 3],
  norm=[601, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3606],
  edge_attr=[3606, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[640, 27],
  pos=[640, 3],
  norm=[640, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3840],
  edge_attr=[3840, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[703, 27],
  pos=[703, 3],
  norm=[703, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4218],
  edge_attr=[4218, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[678, 27],
  pos=[678, 3],
  norm=[678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4068],
  edge_attr=[4068, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[697, 27],
  pos=[697, 3],
  norm=[697, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4182],
  edge_attr=[4182, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[605, 27],
  pos=[605, 3],
  norm=[605, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3630],
  edge_attr=[3630, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[749, 27],
  pos=[749, 3],
  norm=[749, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4494],
  edge_attr=[4494, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[734, 27],
  pos=[734, 3],
  norm=[734, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4404],
  edge_attr=[4404, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[749, 27],
  pos=[749, 3],
  norm=[749, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4494],
  edge_attr=[4494, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[799, 27],
  pos=[799, 3],
  norm=[799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4794],
  edge_attr=[4794, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[786, 27],
  pos=[786, 3],
  norm=[786, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4716],
  edge_attr=[4716, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[779, 27],
  pos=[779, 3],
  norm=[779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4674],
  edge_attr=[4674, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[703, 27],
  pos=[703, 3],
  norm=[703, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4218],
  edge_attr=[4218, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[845, 27],
  pos=[845, 3],
  norm=[845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5070],
  edge_attr=[5070, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[845, 27],
  pos=[845, 3],
  norm=[845, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5070],
  edge_attr=[5070, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[750, 27],
  pos=[750, 3],
  norm=[750, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4500],
  edge_attr=[4500, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane 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_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[902, 27],
  pos=[902, 3],
  norm=[902, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5412],
  edge_attr=[5412, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'd_toy_airplane',
 '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: d_toy_airplane
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[903, 27],
  pos=[903, 3],
  norm=[903, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5418],
  edge_attr=[5418, 3]
)

---Updating memory of learning_module_1---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[802, 27],
  pos=[802, 3],
  norm=[802, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4812],
  edge_attr=[4812, 3]
)

---Updating memory of learning_module_2---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[964, 27],
  pos=[964, 3],
  norm=[964, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5784],
  edge_attr=[5784, 3]
)

---Updating memory of learning_module_3---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[963, 27],
  pos=[963, 3],
  norm=[963, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5778],
  edge_attr=[5778, 3]
)

---Updating memory of learning_module_4---
d_toy_airplane already in memory (['d_toy_airplane'])
Updating existing graph for d_toy_airplane
building graph
Extended graph d_toy_airplane with new points. New model:
Data(
  x=[959, 27],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5754],
  edge_attr=[5754, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'd_toy_airplane',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_d_toy_airplane/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain not in memory ([])
Adding a new graph to memory.
init object model with id chain
built graph Data(
  x=[57, 27],
  pos=[57, 3],
  norm=[57, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 342],
  edge_attr=[342, 3]
)
Added new graph with id chain to memory.

---Updating memory of learning_module_1---
chain not in memory ([])
Adding a new graph to memory.
init object model with id chain
built graph Data(
  x=[70, 27],
  pos=[70, 3],
  norm=[70, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 420],
  edge_attr=[420, 3]
)
Added new graph with id chain to memory.

---Updating memory of learning_module_2---
chain not in memory ([])
Adding a new graph to memory.
init object model with id chain
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 chain to memory.

---Updating memory of learning_module_3---
chain not in memory ([])
Adding a new graph to memory.
init object model with id chain
built graph Data(
  x=[57, 27],
  pos=[57, 3],
  norm=[57, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 342],
  edge_attr=[342, 3]
)
Added new graph with id chain to memory.

---Updating memory of learning_module_4---
chain not in memory ([])
Adding a new graph to memory.
init object model with id chain
built graph Data(
  x=[60, 27],
  pos=[60, 3],
  norm=[60, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 360],
  edge_attr=[360, 3]
)
Added new graph with id chain to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[128, 27],
  pos=[128, 3],
  norm=[128, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 768],
  edge_attr=[768, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
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]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[171, 27],
  pos=[171, 3],
  norm=[171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1026],
  edge_attr=[1026, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[158, 27],
  pos=[158, 3],
  norm=[158, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 948],
  edge_attr=[948, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[170, 27],
  pos=[170, 3],
  norm=[170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1020],
  edge_attr=[1020, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
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]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
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]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
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]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[226, 27],
  pos=[226, 3],
  norm=[226, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1356],
  edge_attr=[1356, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[322, 27],
  pos=[322, 3],
  norm=[322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1932],
  edge_attr=[1932, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[329, 27],
  pos=[329, 3],
  norm=[329, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1974],
  edge_attr=[1974, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[439, 27],
  pos=[439, 3],
  norm=[439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2634],
  edge_attr=[2634, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[471, 27],
  pos=[471, 3],
  norm=[471, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2826],
  edge_attr=[2826, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[442, 27],
  pos=[442, 3],
  norm=[442, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2652],
  edge_attr=[2652, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[431, 27],
  pos=[431, 3],
  norm=[431, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2586],
  edge_attr=[2586, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[420, 27],
  pos=[420, 3],
  norm=[420, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2520],
  edge_attr=[2520, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[508, 27],
  pos=[508, 3],
  norm=[508, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3048],
  edge_attr=[3048, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[524, 27],
  pos=[524, 3],
  norm=[524, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3144],
  edge_attr=[3144, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[499, 27],
  pos=[499, 3],
  norm=[499, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2994],
  edge_attr=[2994, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[489, 27],
  pos=[489, 3],
  norm=[489, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2934],
  edge_attr=[2934, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[621, 27],
  pos=[621, 3],
  norm=[621, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3726],
  edge_attr=[3726, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[725, 27],
  pos=[725, 3],
  norm=[725, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4350],
  edge_attr=[4350, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[713, 27],
  pos=[713, 3],
  norm=[713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4278],
  edge_attr=[4278, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[681, 27],
  pos=[681, 3],
  norm=[681, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4086],
  edge_attr=[4086, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[786, 27],
  pos=[786, 3],
  norm=[786, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4716],
  edge_attr=[4716, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[765, 27],
  pos=[765, 3],
  norm=[765, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4590],
  edge_attr=[4590, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[779, 27],
  pos=[779, 3],
  norm=[779, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4674],
  edge_attr=[4674, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[747, 27],
  pos=[747, 3],
  norm=[747, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4482],
  edge_attr=[4482, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[793, 27],
  pos=[793, 3],
  norm=[793, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4758],
  edge_attr=[4758, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[874, 27],
  pos=[874, 3],
  norm=[874, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5244],
  edge_attr=[5244, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[853, 27],
  pos=[853, 3],
  norm=[853, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5118],
  edge_attr=[5118, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[976, 27],
  pos=[976, 3],
  norm=[976, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5856],
  edge_attr=[5856, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[959, 27],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5754],
  edge_attr=[5754, 3]
)

---Updating memory of learning_module_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1005, 27],
  pos=[1005, 3],
  norm=[1005, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6030],
  edge_attr=[6030, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1077, 27],
  pos=[1077, 3],
  norm=[1077, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6462],
  edge_attr=[6462, 3]
)

---Updating memory of learning_module_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1067, 27],
  pos=[1067, 3],
  norm=[1067, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6402],
  edge_attr=[6402, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1040, 27],
  pos=[1040, 3],
  norm=[1040, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6240],
  edge_attr=[6240, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_4---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1080, 27],
  pos=[1080, 3],
  norm=[1080, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6480],
  edge_attr=[6480, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'chain',
 '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: chain
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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_1---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1136, 27],
  pos=[1136, 3],
  norm=[1136, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6816],
  edge_attr=[6816, 3]
)

---Updating memory of learning_module_2---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1130, 27],
  pos=[1130, 3],
  norm=[1130, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6780],
  edge_attr=[6780, 3]
)

---Updating memory of learning_module_3---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain 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---
chain already in memory (['chain'])
Updating existing graph for chain
building graph
Extended graph chain with new points. New model:
Data(
  x=[1160, 27],
  pos=[1160, 3],
  norm=[1160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6960],
  edge_attr=[6960, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'chain',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_chain/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors not in memory ([])
Adding a new graph to memory.
init object model with id scissors
built graph Data(
  x=[46, 27],
  pos=[46, 3],
  norm=[46, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 276],
  edge_attr=[276, 3]
)
Added new graph with id scissors to memory.

---Updating memory of learning_module_1---
scissors not in memory ([])
Adding a new graph to memory.
init object model with id scissors
built graph 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]
)
Added new graph with id scissors to memory.

---Updating memory of learning_module_2---
scissors not in memory ([])
Adding a new graph to memory.
init object model with id scissors
built graph Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)
Added new graph with id scissors to memory.

---Updating memory of learning_module_3---
scissors not in memory ([])
Adding a new graph to memory.
init object model with id scissors
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 scissors to memory.

---Updating memory of learning_module_4---
scissors not in memory ([])
Adding a new graph to memory.
init object model with id scissors
built graph Data(
  x=[44, 27],
  pos=[44, 3],
  norm=[44, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 264],
  edge_attr=[264, 3]
)
Added new graph with id scissors to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
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]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[90, 27],
  pos=[90, 3],
  norm=[90, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 540],
  edge_attr=[540, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[96, 27],
  pos=[96, 3],
  norm=[96, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 576],
  edge_attr=[576, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
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]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
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]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[104, 27],
  pos=[104, 3],
  norm=[104, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 624],
  edge_attr=[624, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[90, 27],
  pos=[90, 3],
  norm=[90, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 540],
  edge_attr=[540, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[148, 27],
  pos=[148, 3],
  norm=[148, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 888],
  edge_attr=[888, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[160, 27],
  pos=[160, 3],
  norm=[160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 960],
  edge_attr=[960, 3]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[166, 27],
  pos=[166, 3],
  norm=[166, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 996],
  edge_attr=[996, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[155, 27],
  pos=[155, 3],
  norm=[155, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 930],
  edge_attr=[930, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[323, 27],
  pos=[323, 3],
  norm=[323, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1938],
  edge_attr=[1938, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[493, 27],
  pos=[493, 3],
  norm=[493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2958],
  edge_attr=[2958, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[544, 27],
  pos=[544, 3],
  norm=[544, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3264],
  edge_attr=[3264, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[494, 27],
  pos=[494, 3],
  norm=[494, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2964],
  edge_attr=[2964, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[594, 27],
  pos=[594, 3],
  norm=[594, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3564],
  edge_attr=[3564, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[558, 27],
  pos=[558, 3],
  norm=[558, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3348],
  edge_attr=[3348, 3]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[647, 27],
  pos=[647, 3],
  norm=[647, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3882],
  edge_attr=[3882, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[579, 27],
  pos=[579, 3],
  norm=[579, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3474],
  edge_attr=[3474, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[603, 27],
  pos=[603, 3],
  norm=[603, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3618],
  edge_attr=[3618, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[649, 27],
  pos=[649, 3],
  norm=[649, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3894],
  edge_attr=[3894, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[697, 27],
  pos=[697, 3],
  norm=[697, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4182],
  edge_attr=[4182, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[646, 27],
  pos=[646, 3],
  norm=[646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3876],
  edge_attr=[3876, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[705, 27],
  pos=[705, 3],
  norm=[705, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4230],
  edge_attr=[4230, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[768, 27],
  pos=[768, 3],
  norm=[768, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4608],
  edge_attr=[4608, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[692, 27],
  pos=[692, 3],
  norm=[692, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4152],
  edge_attr=[4152, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[715, 27],
  pos=[715, 3],
  norm=[715, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4290],
  edge_attr=[4290, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[767, 27],
  pos=[767, 3],
  norm=[767, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4602],
  edge_attr=[4602, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[752, 27],
  pos=[752, 3],
  norm=[752, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4512],
  edge_attr=[4512, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[791, 27],
  pos=[791, 3],
  norm=[791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4746],
  edge_attr=[4746, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[800, 27],
  pos=[800, 3],
  norm=[800, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4800],
  edge_attr=[4800, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors 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---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[874, 27],
  pos=[874, 3],
  norm=[874, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5244],
  edge_attr=[5244, 3]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[940, 27],
  pos=[940, 3],
  norm=[940, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5640],
  edge_attr=[5640, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[837, 27],
  pos=[837, 3],
  norm=[837, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5022],
  edge_attr=[5022, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[899, 27],
  pos=[899, 3],
  norm=[899, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5394],
  edge_attr=[5394, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[903, 27],
  pos=[903, 3],
  norm=[903, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5418],
  edge_attr=[5418, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[916, 27],
  pos=[916, 3],
  norm=[916, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5496],
  edge_attr=[5496, 3]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[974, 27],
  pos=[974, 3],
  norm=[974, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5844],
  edge_attr=[5844, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[879, 27],
  pos=[879, 3],
  norm=[879, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5274],
  edge_attr=[5274, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[934, 27],
  pos=[934, 3],
  norm=[934, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5604],
  edge_attr=[5604, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'scissors',
 '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: scissors
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[980, 27],
  pos=[980, 3],
  norm=[980, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5880],
  edge_attr=[5880, 3]
)

---Updating memory of learning_module_1---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[995, 27],
  pos=[995, 3],
  norm=[995, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5970],
  edge_attr=[5970, 3]
)

---Updating memory of learning_module_2---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[1058, 27],
  pos=[1058, 3],
  norm=[1058, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6348],
  edge_attr=[6348, 3]
)

---Updating memory of learning_module_3---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[997, 27],
  pos=[997, 3],
  norm=[997, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5982],
  edge_attr=[5982, 3]
)

---Updating memory of learning_module_4---
scissors already in memory (['scissors'])
Updating existing graph for scissors
building graph
Extended graph scissors with new points. New model:
Data(
  x=[990, 27],
  pos=[990, 3],
  norm=[990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5940],
  edge_attr=[5940, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'scissors',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_scissors/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_mustard_bottle/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser not in memory ([])
Adding a new graph to memory.
init object model with id bleach_cleanser
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 bleach_cleanser to memory.

---Updating memory of learning_module_1---
bleach_cleanser not in memory ([])
Adding a new graph to memory.
init object model with id bleach_cleanser
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 bleach_cleanser to memory.

---Updating memory of learning_module_2---
bleach_cleanser not in memory ([])
Adding a new graph to memory.
init object model with id bleach_cleanser
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 bleach_cleanser to memory.

---Updating memory of learning_module_3---
bleach_cleanser not in memory ([])
Adding a new graph to memory.
init object model with id bleach_cleanser
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 bleach_cleanser to memory.

---Updating memory of learning_module_4---
bleach_cleanser not in memory ([])
Adding a new graph to memory.
init object model with id bleach_cleanser
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 bleach_cleanser to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[413, 27],
  pos=[413, 3],
  norm=[413, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2478],
  edge_attr=[2478, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[611, 27],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3666],
  edge_attr=[3666, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[613, 27],
  pos=[613, 3],
  norm=[613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3678],
  edge_attr=[3678, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[797, 27],
  pos=[797, 3],
  norm=[797, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4782],
  edge_attr=[4782, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[843, 27],
  pos=[843, 3],
  norm=[843, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5058],
  edge_attr=[5058, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[820, 27],
  pos=[820, 3],
  norm=[820, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4920],
  edge_attr=[4920, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[910, 27],
  pos=[910, 3],
  norm=[910, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5460],
  edge_attr=[5460, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[956, 27],
  pos=[956, 3],
  norm=[956, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5736],
  edge_attr=[5736, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[922, 27],
  pos=[922, 3],
  norm=[922, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5532],
  edge_attr=[5532, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1139, 27],
  pos=[1139, 3],
  norm=[1139, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6834],
  edge_attr=[6834, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1113, 27],
  pos=[1113, 3],
  norm=[1113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6678],
  edge_attr=[6678, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1157, 27],
  pos=[1157, 3],
  norm=[1157, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6942],
  edge_attr=[6942, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1129, 27],
  pos=[1129, 3],
  norm=[1129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6774],
  edge_attr=[6774, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1321, 27],
  pos=[1321, 3],
  norm=[1321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7926],
  edge_attr=[7926, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1296, 27],
  pos=[1296, 3],
  norm=[1296, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7776],
  edge_attr=[7776, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1341, 27],
  pos=[1341, 3],
  norm=[1341, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8046],
  edge_attr=[8046, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1324, 27],
  pos=[1324, 3],
  norm=[1324, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7944],
  edge_attr=[7944, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1278, 27],
  pos=[1278, 3],
  norm=[1278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7668],
  edge_attr=[7668, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1457, 27],
  pos=[1457, 3],
  norm=[1457, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8742],
  edge_attr=[8742, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1428, 27],
  pos=[1428, 3],
  norm=[1428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8568],
  edge_attr=[8568, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1498, 27],
  pos=[1498, 3],
  norm=[1498, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8988],
  edge_attr=[8988, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1478, 27],
  pos=[1478, 3],
  norm=[1478, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8868],
  edge_attr=[8868, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1408, 27],
  pos=[1408, 3],
  norm=[1408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8448],
  edge_attr=[8448, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1652, 27],
  pos=[1652, 3],
  norm=[1652, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9912],
  edge_attr=[9912, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1619, 27],
  pos=[1619, 3],
  norm=[1619, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9714],
  edge_attr=[9714, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1678, 27],
  pos=[1678, 3],
  norm=[1678, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10068],
  edge_attr=[10068, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1655, 27],
  pos=[1655, 3],
  norm=[1655, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9930],
  edge_attr=[9930, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1606, 27],
  pos=[1606, 3],
  norm=[1606, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9636],
  edge_attr=[9636, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1813, 27],
  pos=[1813, 3],
  norm=[1813, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10878],
  edge_attr=[10878, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1769, 27],
  pos=[1769, 3],
  norm=[1769, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10614],
  edge_attr=[10614, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1850, 27],
  pos=[1850, 3],
  norm=[1850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11100],
  edge_attr=[11100, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1799, 27],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10794],
  edge_attr=[10794, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1958, 27],
  pos=[1958, 3],
  norm=[1958, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11748],
  edge_attr=[11748, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2008, 27],
  pos=[2008, 3],
  norm=[2008, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12048],
  edge_attr=[12048, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[1932, 27],
  pos=[1932, 3],
  norm=[1932, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11592],
  edge_attr=[11592, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser 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': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2132, 27],
  pos=[2132, 3],
  norm=[2132, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12792],
  edge_attr=[12792, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2079, 27],
  pos=[2079, 3],
  norm=[2079, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12474],
  edge_attr=[12474, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2177, 27],
  pos=[2177, 3],
  norm=[2177, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13062],
  edge_attr=[13062, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2092, 27],
  pos=[2092, 3],
  norm=[2092, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12552],
  edge_attr=[12552, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2119, 27],
  pos=[2119, 3],
  norm=[2119, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12714],
  edge_attr=[12714, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2303, 27],
  pos=[2303, 3],
  norm=[2303, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13818],
  edge_attr=[13818, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2232, 27],
  pos=[2232, 3],
  norm=[2232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13392],
  edge_attr=[13392, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2357, 27],
  pos=[2357, 3],
  norm=[2357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14142],
  edge_attr=[14142, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2273, 27],
  pos=[2273, 3],
  norm=[2273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13638],
  edge_attr=[13638, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2270, 27],
  pos=[2270, 3],
  norm=[2270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13620],
  edge_attr=[13620, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'bleach_cleanser',
 '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: bleach_cleanser
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2486, 27],
  pos=[2486, 3],
  norm=[2486, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14916],
  edge_attr=[14916, 3]
)

---Updating memory of learning_module_1---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2418, 27],
  pos=[2418, 3],
  norm=[2418, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14508],
  edge_attr=[14508, 3]
)

---Updating memory of learning_module_2---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2533, 27],
  pos=[2533, 3],
  norm=[2533, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15198],
  edge_attr=[15198, 3]
)

---Updating memory of learning_module_3---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2466, 27],
  pos=[2466, 3],
  norm=[2466, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14796],
  edge_attr=[14796, 3]
)

---Updating memory of learning_module_4---
bleach_cleanser already in memory (['bleach_cleanser'])
Updating existing graph for bleach_cleanser
building graph
Extended graph bleach_cleanser with new points. New model:
Data(
  x=[2439, 27],
  pos=[2439, 3],
  norm=[2439, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14634],
  edge_attr=[14634, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'bleach_cleanser',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_bleach_cleanser/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can not in memory ([])
Adding a new graph to memory.
init object model with id tuna_fish_can
built graph 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]
)
Added new graph with id tuna_fish_can to memory.

---Updating memory of learning_module_1---
tuna_fish_can not in memory ([])
Adding a new graph to memory.
init object model with id tuna_fish_can
built graph 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]
)
Added new graph with id tuna_fish_can to memory.

---Updating memory of learning_module_2---
tuna_fish_can not in memory ([])
Adding a new graph to memory.
init object model with id tuna_fish_can
built graph Data(
  x=[152, 27],
  pos=[152, 3],
  norm=[152, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 912],
  edge_attr=[912, 3]
)
Added new graph with id tuna_fish_can to memory.

---Updating memory of learning_module_3---
tuna_fish_can not in memory ([])
Adding a new graph to memory.
init object model with id tuna_fish_can
built graph Data(
  x=[154, 27],
  pos=[154, 3],
  norm=[154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 924],
  edge_attr=[924, 3]
)
Added new graph with id tuna_fish_can to memory.

---Updating memory of learning_module_4---
tuna_fish_can not in memory ([])
Adding a new graph to memory.
init object model with id tuna_fish_can
built graph Data(
  x=[154, 27],
  pos=[154, 3],
  norm=[154, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 924],
  edge_attr=[924, 3]
)
Added new graph with id tuna_fish_can to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[438, 27],
  pos=[438, 3],
  norm=[438, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2628],
  edge_attr=[2628, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[463, 27],
  pos=[463, 3],
  norm=[463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2778],
  edge_attr=[2778, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[583, 27],
  pos=[583, 3],
  norm=[583, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3498],
  edge_attr=[3498, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[617, 27],
  pos=[617, 3],
  norm=[617, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3702],
  edge_attr=[3702, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[870, 27],
  pos=[870, 3],
  norm=[870, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5220],
  edge_attr=[5220, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[818, 27],
  pos=[818, 3],
  norm=[818, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4908],
  edge_attr=[4908, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[851, 27],
  pos=[851, 3],
  norm=[851, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5106],
  edge_attr=[5106, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[850, 27],
  pos=[850, 3],
  norm=[850, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5100],
  edge_attr=[5100, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1079, 27],
  pos=[1079, 3],
  norm=[1079, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6474],
  edge_attr=[6474, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1073, 27],
  pos=[1073, 3],
  norm=[1073, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6438],
  edge_attr=[6438, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1075, 27],
  pos=[1075, 3],
  norm=[1075, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6450],
  edge_attr=[6450, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_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_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1169, 27],
  pos=[1169, 3],
  norm=[1169, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7014],
  edge_attr=[7014, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1196, 27],
  pos=[1196, 3],
  norm=[1196, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7176],
  edge_attr=[7176, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1182, 27],
  pos=[1182, 3],
  norm=[1182, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7092],
  edge_attr=[7092, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1342, 27],
  pos=[1342, 3],
  norm=[1342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8052],
  edge_attr=[8052, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1278, 27],
  pos=[1278, 3],
  norm=[1278, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7668],
  edge_attr=[7668, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1315, 27],
  pos=[1315, 3],
  norm=[1315, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7890],
  edge_attr=[7890, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1294, 27],
  pos=[1294, 3],
  norm=[1294, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7764],
  edge_attr=[7764, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1455, 27],
  pos=[1455, 3],
  norm=[1455, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8730],
  edge_attr=[8730, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1402, 27],
  pos=[1402, 3],
  norm=[1402, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8412],
  edge_attr=[8412, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1427, 27],
  pos=[1427, 3],
  norm=[1427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8562],
  edge_attr=[8562, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1408, 27],
  pos=[1408, 3],
  norm=[1408, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8448],
  edge_attr=[8448, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1563, 27],
  pos=[1563, 3],
  norm=[1563, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9378],
  edge_attr=[9378, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1512, 27],
  pos=[1512, 3],
  norm=[1512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9072],
  edge_attr=[9072, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1541, 27],
  pos=[1541, 3],
  norm=[1541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9246],
  edge_attr=[9246, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1531, 27],
  pos=[1531, 3],
  norm=[1531, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9186],
  edge_attr=[9186, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1683, 27],
  pos=[1683, 3],
  norm=[1683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10098],
  edge_attr=[10098, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1630, 27],
  pos=[1630, 3],
  norm=[1630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9780],
  edge_attr=[9780, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1660, 27],
  pos=[1660, 3],
  norm=[1660, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9960],
  edge_attr=[9960, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1646, 27],
  pos=[1646, 3],
  norm=[1646, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9876],
  edge_attr=[9876, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1659, 27],
  pos=[1659, 3],
  norm=[1659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9954],
  edge_attr=[9954, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1786, 27],
  pos=[1786, 3],
  norm=[1786, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10716],
  edge_attr=[10716, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1739, 27],
  pos=[1739, 3],
  norm=[1739, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10434],
  edge_attr=[10434, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1764, 27],
  pos=[1764, 3],
  norm=[1764, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10584],
  edge_attr=[10584, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1744, 27],
  pos=[1744, 3],
  norm=[1744, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10464],
  edge_attr=[10464, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1774, 27],
  pos=[1774, 3],
  norm=[1774, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10644],
  edge_attr=[10644, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1855, 27],
  pos=[1855, 3],
  norm=[1855, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11130],
  edge_attr=[11130, 3]
)

---Updating memory of learning_module_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1883, 27],
  pos=[1883, 3],
  norm=[1883, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11298],
  edge_attr=[11298, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1869, 27],
  pos=[1869, 3],
  norm=[1869, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11214],
  edge_attr=[11214, 3]
)

---Updating memory of learning_module_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1886, 27],
  pos=[1886, 3],
  norm=[1886, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11316],
  edge_attr=[11316, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'tuna_fish_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: tuna_fish_can
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[2014, 27],
  pos=[2014, 3],
  norm=[2014, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12084],
  edge_attr=[12084, 3]
)

---Updating memory of learning_module_1---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can 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_2---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1990, 27],
  pos=[1990, 3],
  norm=[1990, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11940],
  edge_attr=[11940, 3]
)

---Updating memory of learning_module_3---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_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_4---
tuna_fish_can already in memory (['tuna_fish_can'])
Updating existing graph for tuna_fish_can
building graph
Extended graph tuna_fish_can with new points. New model:
Data(
  x=[1985, 27],
  pos=[1985, 3],
  norm=[1985, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11910],
  edge_attr=[11910, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'tuna_fish_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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_tuna_fish_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box not in memory ([])
Adding a new graph to memory.
init object model with id cracker_box
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 cracker_box to memory.

---Updating memory of learning_module_1---
cracker_box not in memory ([])
Adding a new graph to memory.
init object model with id cracker_box
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 cracker_box to memory.

---Updating memory of learning_module_2---
cracker_box not in memory ([])
Adding a new graph to memory.
init object model with id cracker_box
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 cracker_box to memory.

---Updating memory of learning_module_3---
cracker_box not in memory ([])
Adding a new graph to memory.
init object model with id cracker_box
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 cracker_box to memory.

---Updating memory of learning_module_4---
cracker_box not in memory ([])
Adding a new graph to memory.
init object model with id cracker_box
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 cracker_box to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[407, 27],
  pos=[407, 3],
  norm=[407, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2442],
  edge_attr=[2442, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[630, 27],
  pos=[630, 3],
  norm=[630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3780],
  edge_attr=[3780, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[630, 27],
  pos=[630, 3],
  norm=[630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3780],
  edge_attr=[3780, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[828, 27],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4968],
  edge_attr=[4968, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1049, 27],
  pos=[1049, 3],
  norm=[1049, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6294],
  edge_attr=[6294, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1032, 27],
  pos=[1032, 3],
  norm=[1032, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6192],
  edge_attr=[6192, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1044, 27],
  pos=[1044, 3],
  norm=[1044, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6264],
  edge_attr=[6264, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1243, 27],
  pos=[1243, 3],
  norm=[1243, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7458],
  edge_attr=[7458, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1247, 27],
  pos=[1247, 3],
  norm=[1247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7482],
  edge_attr=[7482, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1247, 27],
  pos=[1247, 3],
  norm=[1247, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7482],
  edge_attr=[7482, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1255, 27],
  pos=[1255, 3],
  norm=[1255, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7530],
  edge_attr=[7530, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1428, 27],
  pos=[1428, 3],
  norm=[1428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8568],
  edge_attr=[8568, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1428, 27],
  pos=[1428, 3],
  norm=[1428, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8568],
  edge_attr=[8568, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1426, 27],
  pos=[1426, 3],
  norm=[1426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8556],
  edge_attr=[8556, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1417, 27],
  pos=[1417, 3],
  norm=[1417, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8502],
  edge_attr=[8502, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1437, 27],
  pos=[1437, 3],
  norm=[1437, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8622],
  edge_attr=[8622, 3]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1607, 27],
  pos=[1607, 3],
  norm=[1607, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9642],
  edge_attr=[9642, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1596, 27],
  pos=[1596, 3],
  norm=[1596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9576],
  edge_attr=[9576, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1610, 27],
  pos=[1610, 3],
  norm=[1610, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9660],
  edge_attr=[9660, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1595, 27],
  pos=[1595, 3],
  norm=[1595, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9570],
  edge_attr=[9570, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1612, 27],
  pos=[1612, 3],
  norm=[1612, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9672],
  edge_attr=[9672, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1783, 27],
  pos=[1783, 3],
  norm=[1783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10698],
  edge_attr=[10698, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1771, 27],
  pos=[1771, 3],
  norm=[1771, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10626],
  edge_attr=[10626, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1788, 27],
  pos=[1788, 3],
  norm=[1788, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10728],
  edge_attr=[10728, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1764, 27],
  pos=[1764, 3],
  norm=[1764, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10584],
  edge_attr=[10584, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1783, 27],
  pos=[1783, 3],
  norm=[1783, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10698],
  edge_attr=[10698, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1953, 27],
  pos=[1953, 3],
  norm=[1953, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11718],
  edge_attr=[11718, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1933, 27],
  pos=[1933, 3],
  norm=[1933, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11598],
  edge_attr=[11598, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1951, 27],
  pos=[1951, 3],
  norm=[1951, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11706],
  edge_attr=[11706, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1930, 27],
  pos=[1930, 3],
  norm=[1930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11580],
  edge_attr=[11580, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[1960, 27],
  pos=[1960, 3],
  norm=[1960, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11760],
  edge_attr=[11760, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box 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]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2102, 27],
  pos=[2102, 3],
  norm=[2102, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12612],
  edge_attr=[12612, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2132, 27],
  pos=[2132, 3],
  norm=[2132, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12792],
  edge_attr=[12792, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2099, 27],
  pos=[2099, 3],
  norm=[2099, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12594],
  edge_attr=[12594, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2133, 27],
  pos=[2133, 3],
  norm=[2133, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12798],
  edge_attr=[12798, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2298, 27],
  pos=[2298, 3],
  norm=[2298, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13788],
  edge_attr=[13788, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2276, 27],
  pos=[2276, 3],
  norm=[2276, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13656],
  edge_attr=[13656, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2302, 27],
  pos=[2302, 3],
  norm=[2302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13812],
  edge_attr=[13812, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2273, 27],
  pos=[2273, 3],
  norm=[2273, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13638],
  edge_attr=[13638, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2302, 27],
  pos=[2302, 3],
  norm=[2302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13812],
  edge_attr=[13812, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2464, 27],
  pos=[2464, 3],
  norm=[2464, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14784],
  edge_attr=[14784, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2441, 27],
  pos=[2441, 3],
  norm=[2441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14646],
  edge_attr=[14646, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2470, 27],
  pos=[2470, 3],
  norm=[2470, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14820],
  edge_attr=[14820, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2445, 27],
  pos=[2445, 3],
  norm=[2445, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14670],
  edge_attr=[14670, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2463, 27],
  pos=[2463, 3],
  norm=[2463, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14778],
  edge_attr=[14778, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'cracker_box',
 '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: cracker_box
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2634, 27],
  pos=[2634, 3],
  norm=[2634, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15804],
  edge_attr=[15804, 3]
)

---Updating memory of learning_module_1---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2605, 27],
  pos=[2605, 3],
  norm=[2605, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15630],
  edge_attr=[15630, 3]
)

---Updating memory of learning_module_2---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2636, 27],
  pos=[2636, 3],
  norm=[2636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15816],
  edge_attr=[15816, 3]
)

---Updating memory of learning_module_3---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2613, 27],
  pos=[2613, 3],
  norm=[2613, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15678],
  edge_attr=[15678, 3]
)

---Updating memory of learning_module_4---
cracker_box already in memory (['cracker_box'])
Updating existing graph for cracker_box
building graph
Extended graph cracker_box with new points. New model:
Data(
  x=[2623, 27],
  pos=[2623, 3],
  norm=[2623, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15738],
  edge_attr=[15738, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'cracker_box',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_cracker_box/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork not in memory ([])
Adding a new graph to memory.
init object model with id fork
built graph Data(
  x=[44, 27],
  pos=[44, 3],
  norm=[44, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 264],
  edge_attr=[264, 3]
)
Added new graph with id fork to memory.

---Updating memory of learning_module_1---
fork not in memory ([])
Adding a new graph to memory.
init object model with id fork
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 fork to memory.

---Updating memory of learning_module_2---
fork not in memory ([])
Adding a new graph to memory.
init object model with id fork
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 fork to memory.

---Updating memory of learning_module_3---
fork not in memory ([])
Adding a new graph to memory.
init object model with id fork
built graph Data(
  x=[57, 27],
  pos=[57, 3],
  norm=[57, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 342],
  edge_attr=[342, 3]
)
Added new graph with id fork to memory.

---Updating memory of learning_module_4---
fork not in memory ([])
Adding a new graph to memory.
init object model with id fork
built graph Data(
  x=[31, 27],
  pos=[31, 3],
  norm=[31, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 186],
  edge_attr=[186, 3]
)
Added new graph with id fork to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[64, 27],
  pos=[64, 3],
  norm=[64, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 384],
  edge_attr=[384, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[69, 27],
  pos=[69, 3],
  norm=[69, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 414],
  edge_attr=[414, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[62, 27],
  pos=[62, 3],
  norm=[62, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 372],
  edge_attr=[372, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
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]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[114, 27],
  pos=[114, 3],
  norm=[114, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 684],
  edge_attr=[684, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[109, 27],
  pos=[109, 3],
  norm=[109, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 654],
  edge_attr=[654, 3]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[138, 27],
  pos=[138, 3],
  norm=[138, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 828],
  edge_attr=[828, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[136, 27],
  pos=[136, 3],
  norm=[136, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 816],
  edge_attr=[816, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[150, 27],
  pos=[150, 3],
  norm=[150, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 900],
  edge_attr=[900, 3]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[200, 27],
  pos=[200, 3],
  norm=[200, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1200],
  edge_attr=[1200, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[259, 27],
  pos=[259, 3],
  norm=[259, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1554],
  edge_attr=[1554, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[239, 27],
  pos=[239, 3],
  norm=[239, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1434],
  edge_attr=[1434, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[275, 27],
  pos=[275, 3],
  norm=[275, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1650],
  edge_attr=[1650, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[274, 27],
  pos=[274, 3],
  norm=[274, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1644],
  edge_attr=[1644, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[281, 27],
  pos=[281, 3],
  norm=[281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1686],
  edge_attr=[1686, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[280, 27],
  pos=[280, 3],
  norm=[280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1680],
  edge_attr=[1680, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[254, 27],
  pos=[254, 3],
  norm=[254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1524],
  edge_attr=[1524, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[279, 27],
  pos=[279, 3],
  norm=[279, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1674],
  edge_attr=[1674, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[299, 27],
  pos=[299, 3],
  norm=[299, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1794],
  edge_attr=[1794, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[323, 27],
  pos=[323, 3],
  norm=[323, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1938],
  edge_attr=[1938, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[307, 27],
  pos=[307, 3],
  norm=[307, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1842],
  edge_attr=[1842, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[347, 27],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2082],
  edge_attr=[2082, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[357, 27],
  pos=[357, 3],
  norm=[357, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2142],
  edge_attr=[2142, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[338, 27],
  pos=[338, 3],
  norm=[338, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2028],
  edge_attr=[2028, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[361, 27],
  pos=[361, 3],
  norm=[361, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2166],
  edge_attr=[2166, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[362, 27],
  pos=[362, 3],
  norm=[362, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2172],
  edge_attr=[2172, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[360, 27],
  pos=[360, 3],
  norm=[360, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2160],
  edge_attr=[2160, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[373, 27],
  pos=[373, 3],
  norm=[373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2238],
  edge_attr=[2238, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[361, 27],
  pos=[361, 3],
  norm=[361, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2166],
  edge_attr=[2166, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[374, 27],
  pos=[374, 3],
  norm=[374, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2244],
  edge_attr=[2244, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[411, 27],
  pos=[411, 3],
  norm=[411, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2466],
  edge_attr=[2466, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[386, 27],
  pos=[386, 3],
  norm=[386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2316],
  edge_attr=[2316, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[401, 27],
  pos=[401, 3],
  norm=[401, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2406],
  edge_attr=[2406, 3]
)

---Updating memory of learning_module_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[403, 27],
  pos=[403, 3],
  norm=[403, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2418],
  edge_attr=[2418, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[414, 27],
  pos=[414, 3],
  norm=[414, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2484],
  edge_attr=[2484, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'fork',
 '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: fork
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork 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_1---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[444, 27],
  pos=[444, 3],
  norm=[444, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2664],
  edge_attr=[2664, 3]
)

---Updating memory of learning_module_2---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[427, 27],
  pos=[427, 3],
  norm=[427, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2562],
  edge_attr=[2562, 3]
)

---Updating memory of learning_module_3---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[444, 27],
  pos=[444, 3],
  norm=[444, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2664],
  edge_attr=[2664, 3]
)

---Updating memory of learning_module_4---
fork already in memory (['fork'])
Updating existing graph for fork
building graph
Extended graph fork with new points. New model:
Data(
  x=[442, 27],
  pos=[442, 3],
  norm=[442, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2652],
  edge_attr=[2652, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'fork',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_fork/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id large_clamp
built graph 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]
)
Added new graph with id large_clamp to memory.

---Updating memory of learning_module_1---
large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id large_clamp
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id large_clamp to memory.

---Updating memory of learning_module_2---
large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id large_clamp
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id large_clamp to memory.

---Updating memory of learning_module_3---
large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id large_clamp
built graph Data(
  x=[84, 27],
  pos=[84, 3],
  norm=[84, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 504],
  edge_attr=[504, 3]
)
Added new graph with id large_clamp to memory.

---Updating memory of learning_module_4---
large_clamp not in memory ([])
Adding a new graph to memory.
init object model with id large_clamp
built graph Data(
  x=[72, 27],
  pos=[72, 3],
  norm=[72, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 432],
  edge_attr=[432, 3]
)
Added new graph with id large_clamp to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[170, 27],
  pos=[170, 3],
  norm=[170, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1020],
  edge_attr=[1020, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[173, 27],
  pos=[173, 3],
  norm=[173, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1038],
  edge_attr=[1038, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[175, 27],
  pos=[175, 3],
  norm=[175, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1050],
  edge_attr=[1050, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[163, 27],
  pos=[163, 3],
  norm=[163, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 978],
  edge_attr=[978, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[160, 27],
  pos=[160, 3],
  norm=[160, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 960],
  edge_attr=[960, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[268, 27],
  pos=[268, 3],
  norm=[268, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1608],
  edge_attr=[1608, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[269, 27],
  pos=[269, 3],
  norm=[269, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1614],
  edge_attr=[1614, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[261, 27],
  pos=[261, 3],
  norm=[261, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1566],
  edge_attr=[1566, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[371, 27],
  pos=[371, 3],
  norm=[371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2226],
  edge_attr=[2226, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[365, 27],
  pos=[365, 3],
  norm=[365, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2190],
  edge_attr=[2190, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[523, 27],
  pos=[523, 3],
  norm=[523, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3138],
  edge_attr=[3138, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[541, 27],
  pos=[541, 3],
  norm=[541, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3246],
  edge_attr=[3246, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[526, 27],
  pos=[526, 3],
  norm=[526, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3156],
  edge_attr=[3156, 3]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[710, 27],
  pos=[710, 3],
  norm=[710, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4260],
  edge_attr=[4260, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[688, 27],
  pos=[688, 3],
  norm=[688, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4128],
  edge_attr=[4128, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[670, 27],
  pos=[670, 3],
  norm=[670, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4020],
  edge_attr=[4020, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[719, 27],
  pos=[719, 3],
  norm=[719, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4314],
  edge_attr=[4314, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[791, 27],
  pos=[791, 3],
  norm=[791, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4746],
  edge_attr=[4746, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[837, 27],
  pos=[837, 3],
  norm=[837, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5022],
  edge_attr=[5022, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[798, 27],
  pos=[798, 3],
  norm=[798, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4788],
  edge_attr=[4788, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[935, 27],
  pos=[935, 3],
  norm=[935, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5610],
  edge_attr=[5610, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[904, 27],
  pos=[904, 3],
  norm=[904, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5424],
  edge_attr=[5424, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[950, 27],
  pos=[950, 3],
  norm=[950, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5700],
  edge_attr=[5700, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[914, 27],
  pos=[914, 3],
  norm=[914, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5484],
  edge_attr=[5484, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1070, 27],
  pos=[1070, 3],
  norm=[1070, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6420],
  edge_attr=[6420, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1020, 27],
  pos=[1020, 3],
  norm=[1020, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6120],
  edge_attr=[6120, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1057, 27],
  pos=[1057, 3],
  norm=[1057, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6342],
  edge_attr=[6342, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1047, 27],
  pos=[1047, 3],
  norm=[1047, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6282],
  edge_attr=[6282, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1188, 27],
  pos=[1188, 3],
  norm=[1188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7128],
  edge_attr=[7128, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1138, 27],
  pos=[1138, 3],
  norm=[1138, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6828],
  edge_attr=[6828, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1208, 27],
  pos=[1208, 3],
  norm=[1208, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7248],
  edge_attr=[7248, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1163, 27],
  pos=[1163, 3],
  norm=[1163, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6978],
  edge_attr=[6978, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1183, 27],
  pos=[1183, 3],
  norm=[1183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7098],
  edge_attr=[7098, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1268, 27],
  pos=[1268, 3],
  norm=[1268, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7608],
  edge_attr=[7608, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1232, 27],
  pos=[1232, 3],
  norm=[1232, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7392],
  edge_attr=[7392, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1280, 27],
  pos=[1280, 3],
  norm=[1280, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7680],
  edge_attr=[7680, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1236, 27],
  pos=[1236, 3],
  norm=[1236, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7416],
  edge_attr=[7416, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1260, 27],
  pos=[1260, 3],
  norm=[1260, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7560],
  edge_attr=[7560, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1293, 27],
  pos=[1293, 3],
  norm=[1293, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7758],
  edge_attr=[7758, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1355, 27],
  pos=[1355, 3],
  norm=[1355, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8130],
  edge_attr=[8130, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1306, 27],
  pos=[1306, 3],
  norm=[1306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7836],
  edge_attr=[7836, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1330, 27],
  pos=[1330, 3],
  norm=[1330, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7980],
  edge_attr=[7980, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1422, 27],
  pos=[1422, 3],
  norm=[1422, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8532],
  edge_attr=[8532, 3]
)

---Updating memory of learning_module_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1397, 27],
  pos=[1397, 3],
  norm=[1397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8382],
  edge_attr=[8382, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1435, 27],
  pos=[1435, 3],
  norm=[1435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8610],
  edge_attr=[8610, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1394, 27],
  pos=[1394, 3],
  norm=[1394, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8364],
  edge_attr=[8364, 3]
)

---Updating memory of learning_module_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'large_clamp',
 '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: large_clamp
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_1---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1474, 27],
  pos=[1474, 3],
  norm=[1474, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8844],
  edge_attr=[8844, 3]
)

---Updating memory of learning_module_2---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1535, 27],
  pos=[1535, 3],
  norm=[1535, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9210],
  edge_attr=[9210, 3]
)

---Updating memory of learning_module_3---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp 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_4---
large_clamp already in memory (['large_clamp'])
Updating existing graph for large_clamp
building graph
Extended graph large_clamp with new points. New model:
Data(
  x=[1504, 27],
  pos=[1504, 3],
  norm=[1504, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9024],
  edge_attr=[9024, 3]
)


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'large_clamp',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_large_clamp/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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_dice/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id flat_screwdriver
built graph Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)
Added new graph with id flat_screwdriver to memory.

---Updating memory of learning_module_1---
flat_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id flat_screwdriver
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 flat_screwdriver to memory.

---Updating memory of learning_module_2---
flat_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id flat_screwdriver
built graph Data(
  x=[50, 27],
  pos=[50, 3],
  norm=[50, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 300],
  edge_attr=[300, 3]
)
Added new graph with id flat_screwdriver to memory.

---Updating memory of learning_module_3---
flat_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id flat_screwdriver
built graph Data(
  x=[62, 27],
  pos=[62, 3],
  norm=[62, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 372],
  edge_attr=[372, 3]
)
Added new graph with id flat_screwdriver to memory.

---Updating memory of learning_module_4---
flat_screwdriver not in memory ([])
Adding a new graph to memory.
init object model with id flat_screwdriver
built graph Data(
  x=[38, 27],
  pos=[38, 3],
  norm=[38, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 228],
  edge_attr=[228, 3]
)
Added new graph with id flat_screwdriver to memory.


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
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]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[91, 27],
  pos=[91, 3],
  norm=[91, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 546],
  edge_attr=[546, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[93, 27],
  pos=[93, 3],
  norm=[93, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 558],
  edge_attr=[558, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[102, 27],
  pos=[102, 3],
  norm=[102, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 612],
  edge_attr=[612, 3]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[79, 27],
  pos=[79, 3],
  norm=[79, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 474],
  edge_attr=[474, 3]
)


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[129, 27],
  pos=[129, 3],
  norm=[129, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 774],
  edge_attr=[774, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[135, 27],
  pos=[135, 3],
  norm=[135, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 810],
  edge_attr=[810, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[139, 27],
  pos=[139, 3],
  norm=[139, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 834],
  edge_attr=[834, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[143, 27],
  pos=[143, 3],
  norm=[143, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 858],
  edge_attr=[858, 3]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[189, 27],
  pos=[189, 3],
  norm=[189, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1134],
  edge_attr=[1134, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[254, 27],
  pos=[254, 3],
  norm=[254, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1524],
  edge_attr=[1524, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[281, 27],
  pos=[281, 3],
  norm=[281, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1686],
  edge_attr=[1686, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[342, 27],
  pos=[342, 3],
  norm=[342, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2052],
  edge_attr=[2052, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[379, 27],
  pos=[379, 3],
  norm=[379, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2274],
  edge_attr=[2274, 3]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[379, 27],
  pos=[379, 3],
  norm=[379, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2274],
  edge_attr=[2274, 3]
)


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[454, 27],
  pos=[454, 3],
  norm=[454, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2724],
  edge_attr=[2724, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[498, 27],
  pos=[498, 3],
  norm=[498, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2988],
  edge_attr=[2988, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[475, 27],
  pos=[475, 3],
  norm=[475, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2850],
  edge_attr=[2850, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[494, 27],
  pos=[494, 3],
  norm=[494, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2964],
  edge_attr=[2964, 3]
)


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[554, 27],
  pos=[554, 3],
  norm=[554, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3324],
  edge_attr=[3324, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[514, 27],
  pos=[514, 3],
  norm=[514, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3084],
  edge_attr=[3084, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[578, 27],
  pos=[578, 3],
  norm=[578, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3468],
  edge_attr=[3468, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[548, 27],
  pos=[548, 3],
  norm=[548, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3288],
  edge_attr=[3288, 3]
)


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[596, 27],
  pos=[596, 3],
  norm=[596, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3576],
  edge_attr=[3576, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[630, 27],
  pos=[630, 3],
  norm=[630, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3780],
  edge_attr=[3780, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[656, 27],
  pos=[656, 3],
  norm=[656, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3936],
  edge_attr=[3936, 3]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[615, 27],
  pos=[615, 3],
  norm=[615, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3690],
  edge_attr=[3690, 3]
)


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[639, 27],
  pos=[639, 3],
  norm=[639, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3834],
  edge_attr=[3834, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[628, 27],
  pos=[628, 3],
  norm=[628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3768],
  edge_attr=[3768, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[645, 27],
  pos=[645, 3],
  norm=[645, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3870],
  edge_attr=[3870, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[636, 27],
  pos=[636, 3],
  norm=[636, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3816],
  edge_attr=[3816, 3]
)


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[660, 27],
  pos=[660, 3],
  norm=[660, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3960],
  edge_attr=[3960, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[642, 27],
  pos=[642, 3],
  norm=[642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3852],
  edge_attr=[3852, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[669, 27],
  pos=[669, 3],
  norm=[669, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4014],
  edge_attr=[4014, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[698, 27],
  pos=[698, 3],
  norm=[698, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4188],
  edge_attr=[4188, 3]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[659, 27],
  pos=[659, 3],
  norm=[659, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3954],
  edge_attr=[3954, 3]
)


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[730, 27],
  pos=[730, 3],
  norm=[730, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4380],
  edge_attr=[4380, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[713, 27],
  pos=[713, 3],
  norm=[713, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4278],
  edge_attr=[4278, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[759, 27],
  pos=[759, 3],
  norm=[759, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4554],
  edge_attr=[4554, 3]
)


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': 'flat_screwdriver',
 '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: flat_screwdriver
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[798, 27],
  pos=[798, 3],
  norm=[798, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4788],
  edge_attr=[4788, 3]
)

---Updating memory of learning_module_1---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[775, 27],
  pos=[775, 3],
  norm=[775, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4650],
  edge_attr=[4650, 3]
)

---Updating memory of learning_module_2---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver with new points. New model:
Data(
  x=[805, 27],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4830],
  edge_attr=[4830, 3]
)

---Updating memory of learning_module_3---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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]
)

---Updating memory of learning_module_4---
flat_screwdriver already in memory (['flat_screwdriver'])
Updating existing graph for flat_screwdriver
building graph
Extended graph flat_screwdriver 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 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'flat_screwdriver',
 '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_all_objects/supervised_pre_training_5lms_all_objects-parallel_train_episode_flat_screwdriver/pretrained
