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, 28],
  pos=[219, 3],
  norm=[219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2409],
  edge_attr=[2409, 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=[447, 28],
  pos=[447, 3],
  norm=[447, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4917],
  edge_attr=[4917, 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=[667, 28],
  pos=[667, 3],
  norm=[667, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7337],
  edge_attr=[7337, 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=[828, 28],
  pos=[828, 3],
  norm=[828, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1047, 28],
  pos=[1047, 3],
  norm=[1047, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11517],
  edge_attr=[11517, 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=[1266, 28],
  pos=[1266, 3],
  norm=[1266, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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=[1420, 28],
  pos=[1420, 3],
  norm=[1420, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15620],
  edge_attr=[15620, 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=[1642, 28],
  pos=[1642, 3],
  norm=[1642, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18062],
  edge_attr=[18062, 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=[1799, 28],
  pos=[1799, 3],
  norm=[1799, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 19789],
  edge_attr=[19789, 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=[1997, 28],
  pos=[1997, 3],
  norm=[1997, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 21967],
  edge_attr=[21967, 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=[2219, 28],
  pos=[2219, 3],
  norm=[2219, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 24409],
  edge_attr=[24409, 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=[2373, 28],
  pos=[2373, 3],
  norm=[2373, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 26103],
  edge_attr=[26103, 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=[2567, 28],
  pos=[2567, 3],
  norm=[2567, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 28237],
  edge_attr=[28237, 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=[2753, 28],
  pos=[2753, 3],
  norm=[2753, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 30283],
  edge_attr=[30283, 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_base/supervised_pre_training_base-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, 28],
  pos=[174, 3],
  norm=[174, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)
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, 28],
  pos=[345, 3],
  norm=[345, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3795],
  edge_attr=[3795, 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, 28],
  pos=[513, 3],
  norm=[513, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5643],
  edge_attr=[5643, 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, 28],
  pos=[684, 3],
  norm=[684, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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, 28],
  pos=[894, 3],
  norm=[894, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1113, 28],
  pos=[1113, 3],
  norm=[1113, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12243],
  edge_attr=[12243, 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=[1248, 28],
  pos=[1248, 3],
  norm=[1248, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1431, 28],
  pos=[1431, 3],
  norm=[1431, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15741],
  edge_attr=[15741, 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=[1566, 28],
  pos=[1566, 3],
  norm=[1566, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 17226],
  edge_attr=[17226, 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=[1751, 28],
  pos=[1751, 3],
  norm=[1751, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 19261],
  edge_attr=[19261, 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=[1935, 28],
  pos=[1935, 3],
  norm=[1935, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 21285],
  edge_attr=[21285, 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=[2068, 28],
  pos=[2068, 3],
  norm=[2068, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 22748],
  edge_attr=[22748, 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=[2250, 28],
  pos=[2250, 3],
  norm=[2250, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 24750],
  edge_attr=[24750, 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=[2386, 28],
  pos=[2386, 3],
  norm=[2386, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 26246],
  edge_attr=[26246, 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_base/supervised_pre_training_base-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, 28],
  pos=[212, 3],
  norm=[212, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2332],
  edge_attr=[2332, 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, 28],
  pos=[430, 3],
  norm=[430, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4730],
  edge_attr=[4730, 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, 28],
  pos=[644, 3],
  norm=[644, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7084],
  edge_attr=[7084, 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, 28],
  pos=[862, 3],
  norm=[862, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9482],
  edge_attr=[9482, 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, 28],
  pos=[1046, 3],
  norm=[1046, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11506],
  edge_attr=[11506, 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, 28],
  pos=[1251, 3],
  norm=[1251, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13761],
  edge_attr=[13761, 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=[1380, 28],
  pos=[1380, 3],
  norm=[1380, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15180],
  edge_attr=[15180, 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=[1555, 28],
  pos=[1555, 3],
  norm=[1555, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 17105],
  edge_attr=[17105, 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=[1683, 28],
  pos=[1683, 3],
  norm=[1683, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18513],
  edge_attr=[18513, 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=[1851, 28],
  pos=[1851, 3],
  norm=[1851, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 20361],
  edge_attr=[20361, 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=[2027, 28],
  pos=[2027, 3],
  norm=[2027, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 22297],
  edge_attr=[22297, 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=[2146, 28],
  pos=[2146, 3],
  norm=[2146, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 23606],
  edge_attr=[23606, 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=[2319, 28],
  pos=[2319, 3],
  norm=[2319, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 25509],
  edge_attr=[25509, 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=[2441, 28],
  pos=[2441, 3],
  norm=[2441, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 26851],
  edge_attr=[26851, 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_base/supervised_pre_training_base-parallel_train_episode_potted_meat_can/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'spoon',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: spoon
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
spoon not in memory ([])
Adding a new graph to memory.
init object model with id spoon
built graph Data(
  x=[29, 28],
  pos=[29, 3],
  norm=[29, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 319],
  edge_attr=[319, 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, 28],
  pos=[53, 3],
  norm=[53, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 583],
  edge_attr=[583, 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, 28],
  pos=[81, 3],
  norm=[81, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 891],
  edge_attr=[891, 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, 28],
  pos=[106, 3],
  norm=[106, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1166],
  edge_attr=[1166, 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=[186, 28],
  pos=[186, 3],
  norm=[186, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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=[246, 28],
  pos=[246, 3],
  norm=[246, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[270, 28],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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=[304, 28],
  pos=[304, 3],
  norm=[304, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3344],
  edge_attr=[3344, 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=[334, 28],
  pos=[334, 3],
  norm=[334, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3674],
  edge_attr=[3674, 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=[364, 28],
  pos=[364, 3],
  norm=[364, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4004],
  edge_attr=[4004, 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=[400, 28],
  pos=[400, 3],
  norm=[400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4400],
  edge_attr=[4400, 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=[476, 28],
  pos=[476, 3],
  norm=[476, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5236],
  edge_attr=[5236, 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=[512, 28],
  pos=[512, 3],
  norm=[512, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5632],
  edge_attr=[5632, 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=[546, 28],
  pos=[546, 3],
  norm=[546, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6006],
  edge_attr=[6006, 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_base/supervised_pre_training_base-parallel_train_episode_spoon/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'strawberry',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: strawberry
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
strawberry not in memory ([])
Adding a new graph to memory.
init object model with id strawberry
built graph Data(
  x=[105, 28],
  pos=[105, 3],
  norm=[105, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1155],
  edge_attr=[1155, 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, 28],
  pos=[211, 3],
  norm=[211, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2321],
  edge_attr=[2321, 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=[306, 28],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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=[397, 28],
  pos=[397, 3],
  norm=[397, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4367],
  edge_attr=[4367, 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=[477, 28],
  pos=[477, 3],
  norm=[477, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5247],
  edge_attr=[5247, 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=[582, 28],
  pos=[582, 3],
  norm=[582, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[667, 28],
  pos=[667, 3],
  norm=[667, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7337],
  edge_attr=[7337, 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=[716, 28],
  pos=[716, 3],
  norm=[716, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7876],
  edge_attr=[7876, 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=[797, 28],
  pos=[797, 3],
  norm=[797, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8767],
  edge_attr=[8767, 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=[873, 28],
  pos=[873, 3],
  norm=[873, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9603],
  edge_attr=[9603, 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=[959, 28],
  pos=[959, 3],
  norm=[959, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10549],
  edge_attr=[10549, 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=[1028, 28],
  pos=[1028, 3],
  norm=[1028, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11308],
  edge_attr=[11308, 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=[1111, 28],
  pos=[1111, 3],
  norm=[1111, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12221],
  edge_attr=[12221, 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=[1188, 28],
  pos=[1188, 3],
  norm=[1188, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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

---Updating memory of learning_module_0---
mustard_bottle not in memory ([])
Adding a new graph to memory.
init object model with id mustard_bottle
built graph Data(
  x=[207, 28],
  pos=[207, 3],
  norm=[207, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2277],
  edge_attr=[2277, 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, 28],
  pos=[425, 3],
  norm=[425, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4675],
  edge_attr=[4675, 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, 28],
  pos=[632, 3],
  norm=[632, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6952],
  edge_attr=[6952, 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=[851, 28],
  pos=[851, 3],
  norm=[851, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9361],
  edge_attr=[9361, 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=[930, 28],
  pos=[930, 3],
  norm=[930, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1151, 28],
  pos=[1151, 3],
  norm=[1151, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12661],
  edge_attr=[12661, 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=[1359, 28],
  pos=[1359, 3],
  norm=[1359, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 14949],
  edge_attr=[14949, 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=[1530, 28],
  pos=[1530, 3],
  norm=[1530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16830],
  edge_attr=[16830, 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=[1714, 28],
  pos=[1714, 3],
  norm=[1714, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 18854],
  edge_attr=[18854, 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=[1839, 28],
  pos=[1839, 3],
  norm=[1839, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 20229],
  edge_attr=[20229, 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=[1969, 28],
  pos=[1969, 3],
  norm=[1969, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 21659],
  edge_attr=[21659, 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=[2147, 28],
  pos=[2147, 3],
  norm=[2147, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 23617],
  edge_attr=[23617, 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=[2328, 28],
  pos=[2328, 3],
  norm=[2328, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 25608],
  edge_attr=[25608, 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=[2530, 28],
  pos=[2530, 3],
  norm=[2530, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 27830],
  edge_attr=[27830, 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_base/supervised_pre_training_base-parallel_train_episode_mustard_bottle/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'dice',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: dice
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
dice not in memory ([])
Adding a new graph to memory.
init object model with id dice
built graph Data(
  x=[55, 28],
  pos=[55, 3],
  norm=[55, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 605],
  edge_attr=[605, 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, 28],
  pos=[110, 3],
  norm=[110, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1210],
  edge_attr=[1210, 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, 28],
  pos=[164, 3],
  norm=[164, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1804],
  edge_attr=[1804, 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, 28],
  pos=[218, 3],
  norm=[218, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2398],
  edge_attr=[2398, 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=[270, 28],
  pos=[270, 3],
  norm=[270, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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': '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=[322, 28],
  pos=[322, 3],
  norm=[322, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3542],
  edge_attr=[3542, 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=[347, 28],
  pos=[347, 3],
  norm=[347, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3817],
  edge_attr=[3817, 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=[371, 28],
  pos=[371, 3],
  norm=[371, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4081],
  edge_attr=[4081, 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=[391, 28],
  pos=[391, 3],
  norm=[391, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4301],
  edge_attr=[4301, 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=[413, 28],
  pos=[413, 3],
  norm=[413, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4543],
  edge_attr=[4543, 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=[435, 28],
  pos=[435, 3],
  norm=[435, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4785],
  edge_attr=[4785, 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=[456, 28],
  pos=[456, 3],
  norm=[456, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[476, 28],
  pos=[476, 3],
  norm=[476, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5236],
  edge_attr=[5236, 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=[494, 28],
  pos=[494, 3],
  norm=[494, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5434],
  edge_attr=[5434, 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_base/supervised_pre_training_base-parallel_train_episode_dice/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'golf_ball',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: golf_ball
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
golf_ball not in memory ([])
Adding a new graph to memory.
init object model with id golf_ball
built graph Data(
  x=[81, 28],
  pos=[81, 3],
  norm=[81, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 891],
  edge_attr=[891, 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, 28],
  pos=[161, 3],
  norm=[161, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 1771],
  edge_attr=[1771, 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=[241, 28],
  pos=[241, 3],
  norm=[241, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2651],
  edge_attr=[2651, 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=[321, 28],
  pos=[321, 3],
  norm=[321, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3531],
  edge_attr=[3531, 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=[400, 28],
  pos=[400, 3],
  norm=[400, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4400],
  edge_attr=[4400, 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=[479, 28],
  pos=[479, 3],
  norm=[479, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 5269],
  edge_attr=[5269, 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=[547, 28],
  pos=[547, 3],
  norm=[547, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6017],
  edge_attr=[6017, 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=[611, 28],
  pos=[611, 3],
  norm=[611, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6721],
  edge_attr=[6721, 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=[679, 28],
  pos=[679, 3],
  norm=[679, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 7469],
  edge_attr=[7469, 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=[739, 28],
  pos=[739, 3],
  norm=[739, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8129],
  edge_attr=[8129, 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=[805, 28],
  pos=[805, 3],
  norm=[805, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8855],
  edge_attr=[8855, 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=[866, 28],
  pos=[866, 3],
  norm=[866, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9526],
  edge_attr=[9526, 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=[929, 28],
  pos=[929, 3],
  norm=[929, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10219],
  edge_attr=[10219, 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=[992, 28],
  pos=[992, 3],
  norm=[992, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10912],
  edge_attr=[10912, 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_base/supervised_pre_training_base-parallel_train_episode_golf_ball/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'c_lego_duplo',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: c_lego_duplo
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
c_lego_duplo not in memory ([])
Adding a new graph to memory.
init object model with id c_lego_duplo
built graph Data(
  x=[83, 28],
  pos=[83, 3],
  norm=[83, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 913],
  edge_attr=[913, 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, 28],
  pos=[224, 3],
  norm=[224, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2464],
  edge_attr=[2464, 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, 28],
  pos=[306, 3],
  norm=[306, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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, 28],
  pos=[448, 3],
  norm=[448, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 4928],
  edge_attr=[4928, 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=[628, 28],
  pos=[628, 3],
  norm=[628, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 6908],
  edge_attr=[6908, 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=[826, 28],
  pos=[826, 3],
  norm=[826, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9086],
  edge_attr=[9086, 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=[898, 28],
  pos=[898, 3],
  norm=[898, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9878],
  edge_attr=[9878, 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=[967, 28],
  pos=[967, 3],
  norm=[967, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 10637],
  edge_attr=[10637, 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=[1034, 28],
  pos=[1034, 3],
  norm=[1034, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11374],
  edge_attr=[11374, 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=[1101, 28],
  pos=[1101, 3],
  norm=[1101, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12111],
  edge_attr=[12111, 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=[1171, 28],
  pos=[1171, 3],
  norm=[1171, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12881],
  edge_attr=[12881, 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=[1237, 28],
  pos=[1237, 3],
  norm=[1237, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13607],
  edge_attr=[13607, 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=[1302, 28],
  pos=[1302, 3],
  norm=[1302, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1369, 28],
  pos=[1369, 3],
  norm=[1369, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15059],
  edge_attr=[15059, 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_base/supervised_pre_training_base-parallel_train_episode_c_lego_duplo/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': 'banana',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: banana
Going into exploratory mode after 0 steps

---Updating memory of learning_module_0---
banana not in memory ([])
Adding a new graph to memory.
init object model with id banana
built graph Data(
  x=[42, 28],
  pos=[42, 3],
  norm=[42, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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 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, 28],
  pos=[183, 3],
  norm=[183, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 2013],
  edge_attr=[2013, 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, 28],
  pos=[301, 3],
  norm=[301, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 3311],
  edge_attr=[3311, 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, 28],
  pos=[426, 3],
  norm=[426, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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, 28],
  pos=[582, 3],
  norm=[582, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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, 28],
  pos=[741, 3],
  norm=[741, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 8151],
  edge_attr=[8151, 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=[853, 28],
  pos=[853, 3],
  norm=[853, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 9383],
  edge_attr=[9383, 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=[972, 28],
  pos=[972, 3],
  norm=[972, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    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]
)


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=[1046, 28],
  pos=[1046, 3],
  norm=[1046, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 11506],
  edge_attr=[11506, 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=[1133, 28],
  pos=[1133, 3],
  norm=[1133, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 12463],
  edge_attr=[12463, 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=[1271, 28],
  pos=[1271, 3],
  norm=[1271, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 13981],
  edge_attr=[13981, 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=[1393, 28],
  pos=[1393, 3],
  norm=[1393, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15323],
  edge_attr=[15323, 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=[1447, 28],
  pos=[1447, 3],
  norm=[1447, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 15917],
  edge_attr=[15917, 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=[1493, 28],
  pos=[1493, 3],
  norm=[1493, 3],
  feature_mapping={
    node_ids=[2],
    pose_vectors=[2],
    pose_fully_defined=[2],
    on_object=[2],
    object_coverage=[2],
    rgba=[2],
    hsv=[2],
    principal_curvatures=[2],
    principal_curvatures_log=[2],
    gaussian_curvature=[2],
    mean_curvature=[2],
    gaussian_curvature_sc=[2],
    mean_curvature_sc=[2]
  },
  edge_index=[2, 16423],
  edge_attr=[16423, 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_base/supervised_pre_training_base-parallel_train_episode_banana/pretrained
