logger initialized
loading models
loading 001_cube with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 001_cube:
   Contains 1614 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 006_disk with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 006_disk:
   Contains 1047 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 021_logo_tbp with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 021_logo_tbp:
   Contains 148 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 022_logo_numenta with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 022_logo_numenta:
   Contains 103 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading models
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.44785001719986245)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3427116377672037)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.42502131569007984)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.353581011351909)
current most likely hypothesis: 001_cube with evidence 2.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6572883622327963)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5521499828001375)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5749786843099202)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.646418988648091)
current most likely hypothesis: 006_disk with evidence 2.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5521499828001375)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6572883622327963)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.57497868430992)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.646418988648091)
current most likely hypothesis: 001_cube with evidence 2.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5521499828001373)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.57497868430992)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.657288362232796)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.646418988648091)
current most likely hypothesis: 001_cube with evidence 3.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.657288362232796)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.57497868430992)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5521499828001373)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.646418988648091)
current most likely hypothesis: 001_cube with evidence 4.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.552149982800137)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.657288362232796)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.5749786843099205)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.646418988648091)
current most likely hypothesis: 001_cube with evidence 3.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.552149982800137)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.5749786843099205)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.657288362232796)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.646418988648091)
current most likely hypothesis: 001_cube with evidence 2.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.552149982800137)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.657288362232796)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.5749786843099205)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.646418988648091)
current most likely hypothesis: 001_cube with evidence 1.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.552149982800137)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.657288362232796)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.5749786843099205)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.646418988648091)
current most likely hypothesis: 001_cube with evidence 2.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.552149982800138)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.657225362693051)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.57497868430992)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.64641898864809)
current most likely hypothesis: 001_cube with evidence 1.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.552149982800138)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.657225362693051)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.57497868430992)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.64641898864809)
current most likely hypothesis: 001_cube with evidence 0.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.552149982800138)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.657225362693051)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.64641898864809)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.57497868430992)
current most likely hypothesis: 001_cube with evidence -0.23
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Going into exploratory mode after 13 steps

---Updating memory of learning_module_0---
011_cylinder not in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta'])
Adding a new graph to memory.
init object model with id 011_cylinder
building graph from 87 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7f84de5b11c0>
Added new graph with id 011_cylinder to memory.
Model for 011_cylinder:
   Contains 87 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


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


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3321228336141324)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > 0.9160527651940935)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.4324717272232831)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3817247545187955)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4197062740329759)
current most likely hypothesis: 011_cylinder with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5802937259670241)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5675282727767169)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6678771663858676)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6182752454812045)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -0.08394723480590649)
current most likely hypothesis: 011_cylinder with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.580293725967024)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.567528272776717)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6678771663858676)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6182752454812044)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -1.0839472348059065)
current most likely hypothesis: 011_cylinder with evidence 6.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.580293725967024)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.567528272776717)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6678771663858676)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -2.0839472348059065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6182752454812044)
current most likely hypothesis: 011_cylinder with evidence 8.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6182752454812044)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.580293725967024)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6678771663858676)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.567528272776717)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -3.0839472348059065)
current most likely hypothesis: 011_cylinder with evidence 10.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.580293725967024)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.667877166385868)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.618275245481204)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.567528272776717)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -4.0839472348059065)
current most likely hypothesis: 011_cylinder with evidence 12.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.567528272776717)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.667877166385868)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.580293725967024)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -5.0839472348059065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.618275245481204)
current most likely hypothesis: 011_cylinder with evidence 14.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.580293725967024)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.667877166385868)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.567528272776717)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.618275245481204)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -6.0839472348059065)
current most likely hypothesis: 011_cylinder with evidence 16.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.580293725967024)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.567528272776717)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.667877166385868)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -7.0839472348059065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.618275245481204)
current most likely hypothesis: 011_cylinder with evidence 18.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.667814166846123)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.618275245481204)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.567528272776716)
Testing 174 out of 174 hypotheses for 011_cylinder (evidence > -8.083947234805906)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.580293725967024)
current most likely hypothesis: 011_cylinder with evidence 20.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.00902287 1.48611819 0.05931614]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.009 1.486 0.059], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 89 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 176 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.43054827647439353)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.34510134364955664)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4429027665604762)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3527168584825232)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > 0.9082824526138993)
current most likely hypothesis: 011_cylinder with evidence 2.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5570972334395238)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5694517235256065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6472831415174768)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6548986563504433)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -0.09171754738610072)
current most likely hypothesis: 011_cylinder with evidence 4.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5570972334395239)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6548986563504433)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -1.0917175473861007)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5694517235256065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6472831415174767)
current most likely hypothesis: 011_cylinder with evidence 6.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6548986563504435)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6472831415174767)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.5694517235256065)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -2.091717547386101)
current most likely hypothesis: 011_cylinder with evidence 8.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.557097233439524)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.5694517235256065)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6548986563504435)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6472831415174767)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -3.091717547386101)
current most likely hypothesis: 011_cylinder with evidence 10.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.647283141517477)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.6548986563504435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.5694517235256065)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -4.091717547386101)
current most likely hypothesis: 011_cylinder with evidence 12.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.6548986563504435)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -5.091717547386101)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.5694517235256065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.647283141517477)
current most likely hypothesis: 011_cylinder with evidence 14.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.6548986563504435)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.647283141517477)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.5694517235256065)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -6.091717547386101)
current most likely hypothesis: 011_cylinder with evidence 16.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.6548986563504435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.5694517235256065)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.647283141517477)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -7.091717547386101)
current most likely hypothesis: 011_cylinder with evidence 18.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.654835656810699)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.647283141517477)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.569451723525606)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -8.0917175473861)
current most likely hypothesis: 011_cylinder with evidence 20.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.02514664  1.48611818  0.0341695 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.654835656810699)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.569451723525606)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.647283141517477)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -9.0917175473861)
current most likely hypothesis: 011_cylinder with evidence 22.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.022216    1.49523494  0.03614173]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.654835656810699)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.647283141517477)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.569451723525606)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -10.0917175473861)
current most likely hypothesis: 011_cylinder with evidence 21.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.02221588  1.50459396  0.03614165]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.654835656810699)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.569451723525606)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.647283141517477)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -11.0917175473861)
current most likely hypothesis: 011_cylinder with evidence 23.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.02221515  1.5093438   0.03614202]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.557097233439524)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.654835656810699)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.647283141517477)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -12.0917175473861)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.569451723525606)
current most likely hypothesis: 011_cylinder with evidence 25.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.02221223  1.51937269  0.0361437 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.654835656810699)
Testing 352 out of 352 hypotheses for 011_cylinder (evidence > -13.0917175473861)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.557097233439524)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.569451723525606)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.647283141517477)
current most likely hypothesis: 011_cylinder with evidence 27.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.02995703  1.51810922  0.03004146]
added symmetry evidence
Symmetry detected for hypotheses [ 34 121]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.    1.518 0.06 ], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 88 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 264 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4172257931581214)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.430825111930639)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3375350418509001)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > 0.8767678430686076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.38420523539365004)
current most likely hypothesis: 011_cylinder with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5827742068418786)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.569174888069361)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6624649581490999)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.61579476460635)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -0.12323215693139244)
current most likely hypothesis: 011_cylinder with evidence 4.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5827742068418786)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.569174888069361)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6624649581491)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.61579476460635)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -1.1232321569313926)
current most likely hypothesis: 011_cylinder with evidence 6.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5827742068418784)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.569174888069361)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6624649581491)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -2.1232321569313926)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.61579476460635)
current most likely hypothesis: 011_cylinder with evidence 8.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5827742068418784)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.569174888069361)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.61579476460635)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6624649581491)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -3.1232321569313926)
current most likely hypothesis: 011_cylinder with evidence 10.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.582774206841878)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.6624649581491)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.569174888069361)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -4.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.61579476460635)
current most likely hypothesis: 011_cylinder with evidence 12.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.582774206841878)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.569174888069361)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.6624649581491)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -5.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.61579476460635)
current most likely hypothesis: 011_cylinder with evidence 14.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.582774206841878)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.569174888069361)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.61579476460635)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -6.123232156931392)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.6624649581491)
current most likely hypothesis: 011_cylinder with evidence 16.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.569174888069361)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.582774206841878)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.6624649581491)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -7.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.61579476460635)
current most likely hypothesis: 011_cylinder with evidence 18.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.58277420684188)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.662401958609355)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.56917488806936)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.615794764606349)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -8.123232156931392)
current most likely hypothesis: 011_cylinder with evidence 20.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [-0.01977205  1.48611819  0.00300762]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.58277420684188)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.56917488806936)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.662401958609355)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.615794764606349)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -9.123232156931392)
current most likely hypothesis: 011_cylinder with evidence 22.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-0.01945257  1.49523495  0.00464192]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.58277420684188)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.662401958609355)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.56917488806936)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -10.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.615794764606349)
current most likely hypothesis: 011_cylinder with evidence 24.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
all possible locations are in radius 0.1 of [-0.01945238  1.5093438   0.0046423 ]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.58277420684188)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.662401958609355)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.56917488806936)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.615794764606349)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -11.123232156931392)
current most likely hypothesis: 011_cylinder with evidence 26.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01945197  1.5193727   0.00464383]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.58277420684188)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.662401958609355)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.56917488806936)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -12.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.615794764606349)
current most likely hypothesis: 011_cylinder with evidence 28.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-1.99994962e-02  1.51810922e+00  2.81402469e-05]
added symmetry evidence
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.58277420684188)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.662401958609355)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.56917488806936)
Testing 528 out of 528 hypotheses for 011_cylinder (evidence > -13.123232156931392)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.615794764606349)
current most likely hypothesis: 011_cylinder with evidence 30.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.03409366  1.51862398  0.02524971]
added symmetry evidence
Symmetry detected for hypotheses [ 38 253]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.059  1.519 -0.009], rotation [ 0. 90.  0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 88 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 352 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3504961378490793)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.43549097789035907)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.5406619392866207)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.5984474284196158)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > 0.7190571217438703)
current most likely hypothesis: 001_cube with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6495038621509207)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5645090221096409)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.45933806071337935)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.40155257158038415)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -0.28094287825612974)
current most likely hypothesis: 006_disk with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.4593380607133795)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.401552571580384)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -1.2809428782561296)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.564509022109641)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6495038621509206)
current most likely hypothesis: 006_disk with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.564509022109641)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.4593380607133795)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.401552571580384)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6495038621509206)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -2.2809428782561296)
current most likely hypothesis: 006_disk with evidence 6.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.564509022109641)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.4593380607133795)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6495038621509206)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -3.2809428782561296)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.401552571580384)
current most likely hypothesis: 006_disk with evidence 8.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.564509022109641)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.401552571580384)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.45933806071338)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -4.28094287825613)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.649503862150921)
current most likely hypothesis: 006_disk with evidence 9.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.564509022109641)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.45933806071338)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.401552571580384)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.649503862150921)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -5.28094287825613)
current most likely hypothesis: 006_disk with evidence 11.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.649503862150921)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.45933806071338)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.401552571580384)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.564509022109641)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -6.28094287825613)
current most likely hypothesis: 006_disk with evidence 12.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.564509022109641)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.401552571580384)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.45933806071338)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.649503862150921)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -7.28094287825613)
current most likely hypothesis: 006_disk with evidence 14.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.564509022109641)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.401552571580384)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.45933806071338)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.64950386215092)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -8.28094287825613)
current most likely hypothesis: 006_disk with evidence 15.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.401552571580384)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.564509022109641)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.45933806071338)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.64950386215092)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -9.28094287825613)
current most likely hypothesis: 006_disk with evidence 17.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.401552571580384)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.45933806071338)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -10.28094287825613)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.564509022109641)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.64950386215092)
current most likely hypothesis: 006_disk with evidence 18.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.64950386215092)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -11.28094287825613)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.401552571580384)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.45933806071338)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.564509022109641)
current most likely hypothesis: 006_disk with evidence 17.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.45933806071338)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.401552571580384)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.64950386215092)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -12.28094287825613)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.564509022109641)
current most likely hypothesis: 006_disk with evidence 19.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.45933806071338)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.401552571580384)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.564509022109641)
Testing 2816 out of 2816 hypotheses for 011_cylinder (evidence > -13.28094287825613)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.64950386215092)
current most likely hypothesis: 006_disk with evidence 20.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.00601221  1.48105908  0.00250027]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.006  1.481  0.003], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 006_disk
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 107 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 459 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': '011_cylinder',
 '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: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.42243890857778543)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.5950853563180479)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > 0.7028677975293358)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.5404371220870134)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3343068136345448)
current most likely hypothesis: 006_disk with evidence 2.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5775610914222146)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.45956287791298656)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.40491464368195207)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6656931863654552)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -0.2971322024706642)
current most likely hypothesis: 006_disk with evidence 3.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6656931863654552)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5775610914222145)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.4595628779129866)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -1.2971322024706642)
current most likely hypothesis: 006_disk with evidence 5.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.665693186365455)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.404914643681952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.459562877912987)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5775610914222145)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -2.297132202470664)
current most likely hypothesis: 006_disk with evidence 6.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5775610914222145)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.665693186365455)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -3.297132202470664)
current most likely hypothesis: 006_disk with evidence 8.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -4.297132202470664)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.665693186365456)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.577561091422215)
current most likely hypothesis: 011_cylinder with evidence 9.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -5.297132202470664)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.577561091422215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 11.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.404914643681952)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.665693186365456)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -6.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 12.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.577561091422215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.665693186365456)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -7.297132202470664)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.459562877912987)
current most likely hypothesis: 011_cylinder with evidence 14.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.577561091422215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.665693186365456)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -8.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 15.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.404914643681952)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.665693186365456)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -9.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 17.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.577561091422215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.404914643681952)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.665693186365456)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.459562877912987)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -10.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 18.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -11.297132202470664)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.577561091422215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.665693186365456)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.459562877912987)
current most likely hypothesis: 011_cylinder with evidence 20.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.577561091422215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.404914643681952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.459562877912987)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -12.297132202470664)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 21.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.404914643681952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.459562877912987)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.665693186365456)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.577561091422215)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -13.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 23.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.459562877912987)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.665693186365456)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -14.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 24.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.459562877912987)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -15.297132202470664)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.404914643681952)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 26.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.404914643681952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.459562877912987)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.665693186365456)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.577561091422215)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -16.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 27.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -17.297132202470664)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.459562877912987)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 29.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.577561091422215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.404914643681952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.459562877912987)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -18.297132202470664)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 30.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -19.297132202470664)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.665693186365456)
current most likely hypothesis: 011_cylinder with evidence 31.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.577561091422215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.404914643681952)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.665693186365456)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -20.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 33.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.577561091422215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.665693186365456)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.459562877912987)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.404914643681952)
Testing 3672 out of 3672 hypotheses for 011_cylinder (evidence > -21.297132202470664)
current most likely hypothesis: 011_cylinder with evidence 34.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
all possible locations are in radius 0.1 of [-0.02535057  1.54999909 -0.01300568]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.025  1.55  -0.013], rotation [90.  0.  0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 24 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 105 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 564 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4515305010893246)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.37467592088276896)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.26911764705882363)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3760867913165077)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > 0.6520097948091294)
current most likely hypothesis: 001_cube with evidence 2.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5484694989106754)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6239132086834923)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.625324079117231)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7308823529411763)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -0.34799020519087065)
current most likely hypothesis: 001_cube with evidence 3.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5484694989106753)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7308823529411763)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6239132086834922)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -1.3479902051908708)
current most likely hypothesis: 001_cube with evidence 4.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5484694989106753)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.623913208683492)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -2.3479902051908708)
current most likely hypothesis: 001_cube with evidence 5.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5484694989106753)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.623913208683492)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.625324079117231)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -3.3479902051908708)
current most likely hypothesis: 001_cube with evidence 4.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.625324079117231)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.730882352941176)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.548469498910675)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -4.347990205190871)
current most likely hypothesis: 001_cube with evidence 3.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -5.347990205190871)
current most likely hypothesis: 001_cube with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.623913208683492)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -6.347990205190871)
current most likely hypothesis: 001_cube with evidence 5.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -7.347990205190871)
current most likely hypothesis: 001_cube with evidence 4.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.548469498910675)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.623913208683492)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.625324079117231)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -8.347990205190872)
current most likely hypothesis: 001_cube with evidence 6.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.548469498910675)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.623913208683492)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.625324079117231)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -9.347990205190872)
current most likely hypothesis: 001_cube with evidence 7.42
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -10.347990205190872)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.730882352941176)
current most likely hypothesis: 001_cube with evidence 8.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.548469498910675)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.623913208683492)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.625324079117231)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -11.347990205190872)
current most likely hypothesis: 001_cube with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.548469498910675)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.623913208683492)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.625324079117231)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -12.347990205190872)
current most likely hypothesis: 001_cube with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -13.347990205190872)
current most likely hypothesis: 001_cube with evidence 5.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.623913208683492)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.730882352941176)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.548469498910675)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -14.347990205190872)
current most likely hypothesis: 001_cube with evidence 4.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.548469498910675)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.625324079117231)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.623913208683492)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -15.347990205190872)
current most likely hypothesis: 001_cube with evidence 5.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.62532407911723)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.730882352941176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.62391320868349)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.548469498910677)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -16.34799020519087)
current most likely hypothesis: 001_cube with evidence 4.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.62532407911723)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.548469498910677)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.730882352941176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.62391320868349)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -17.34799020519087)
current most likely hypothesis: 001_cube with evidence 3.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.62532407911723)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.548469498910677)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.730882352941176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.62391320868349)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -18.34799020519087)
current most likely hypothesis: 001_cube with evidence 2.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.62532407911723)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.62391320868349)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.548469498910677)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -19.34799020519087)
current most likely hypothesis: 001_cube with evidence 4.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.548469498910677)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.62532407911723)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.62391320868349)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -20.34799020519087)
current most likely hypothesis: 001_cube with evidence 5.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.548469498910677)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.62532407911723)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.730882352941176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.62391320868349)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -21.34799020519087)
current most likely hypothesis: 001_cube with evidence 4.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.548469498910677)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.62532407911723)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.62391320868349)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.730882352941176)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -22.34799020519087)
current most likely hypothesis: 001_cube with evidence 3.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.548469498910677)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.62532407911723)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -23.34799020519087)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.62391320868349)
current most likely hypothesis: 001_cube with evidence 2.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.548469498910677)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.62532407911723)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.730882352941176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.62391320868349)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -24.34799020519087)
current most likely hypothesis: 001_cube with evidence 1.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.548469498910677)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.62391320868349)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.730882352941176)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.62532407911723)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -25.34799020519087)
current most likely hypothesis: 001_cube with evidence 0.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.548469498910677)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.62532407911723)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.62391320868349)
Testing 1128 out of 1128 hypotheses for 011_cylinder (evidence > -26.34799020519087)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.730882352941176)
current most likely hypothesis: 001_cube with evidence -0.74
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Going into exploratory mode after 30 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 84 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 643 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.3278601137424671)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.28258540991702424)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3290989729225028)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3740877784731524)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > 0.5945769469254978)
current most likely hypothesis: 011_cylinder with evidence 2.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6259122215268476)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.7174145900829758)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6709010270774972)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -0.4054230530745022)
current most likely hypothesis: 001_cube with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6709010270774973)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.7174145900829758)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6259122215268476)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -1.4054230530745022)
current most likely hypothesis: 006_disk with evidence 3.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.6721398862575327)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6259122215268476)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -2.405423053074502)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6709010270774973)
current most likely hypothesis: 001_cube with evidence 5.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.6721398862575327)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6709010270774973)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6259122215268476)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.717414590082976)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -3.405423053074502)
current most likely hypothesis: 001_cube with evidence 6.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.625912221526848)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.670901027077497)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -4.405423053074502)
current most likely hypothesis: 001_cube with evidence 7.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.615099378299334)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.717414590082976)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.670901027077497)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -5.405423053074502)
current most likely hypothesis: 001_cube with evidence 8.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.670901027077497)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.615099378299334)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -6.405423053074502)
current most likely hypothesis: 001_cube with evidence 9.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.670901027077497)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.615099378299334)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.717414590082976)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -7.405423053074502)
current most likely hypothesis: 001_cube with evidence 8.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.615099378299334)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.717414590082976)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.670901027077498)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.672139886257533)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -8.405423053074502)
current most likely hypothesis: 001_cube with evidence 7.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.615099378299334)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -9.405423053074502)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.717414590082976)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.670901027077498)
current most likely hypothesis: 001_cube with evidence 8.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.615099378299334)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -10.405423053074502)
current most likely hypothesis: 001_cube with evidence 9.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.615099378299334)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.670901027077498)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.672139886257533)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -11.405423053074502)
current most likely hypothesis: 001_cube with evidence 8.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.670901027077498)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.615099378299334)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -12.405423053074502)
current most likely hypothesis: 001_cube with evidence 7.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.615099378299334)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -13.405423053074502)
current most likely hypothesis: 001_cube with evidence 6.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.670901027077498)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.717414590082976)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.613090432460078)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -14.405423053074502)
current most likely hypothesis: 001_cube with evidence 5.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.613090432460078)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -15.405423053074502)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.717414590082976)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.670901027077498)
current most likely hypothesis: 001_cube with evidence 4.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.672139886257533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.670901027077498)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.717414590082974)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.613090432460076)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -16.4054230530745)
current most likely hypothesis: 001_cube with evidence 3.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.717414590082974)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -17.4054230530745)
current most likely hypothesis: 001_cube with evidence 2.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.613090432460076)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.717414590082974)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -18.4054230530745)
current most likely hypothesis: 001_cube with evidence 3.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.71626843765189)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -19.4054230530745)
current most likely hypothesis: 001_cube with evidence 4.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.71626843765189)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -20.4054230530745)
current most likely hypothesis: 001_cube with evidence 5.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.71626843765189)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -21.4054230530745)
current most likely hypothesis: 001_cube with evidence 4.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.71626843765189)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -22.4054230530745)
current most likely hypothesis: 001_cube with evidence 3.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.613090432460076)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.670901027077498)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.71626843765189)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -23.4054230530745)
current most likely hypothesis: 001_cube with evidence 2.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.613090432460076)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.71626843765189)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -24.4054230530745)
current most likely hypothesis: 001_cube with evidence 1.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.672139886257533)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.71626843765189)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.670901027077498)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.613090432460076)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -25.4054230530745)
current most likely hypothesis: 001_cube with evidence 0.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.672139886257533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.613090432460076)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.71626843765189)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.670901027077498)
Testing 1286 out of 1286 hypotheses for 011_cylinder (evidence > -26.4054230530745)
current most likely hypothesis: 001_cube with evidence -0.38
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Going into exploratory mode after 29 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 93 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 730 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4584506363949089)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3344189886480905)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.39989760165482136)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3786472534922812)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > 0.6674758798321)
current most likely hypothesis: 011_cylinder with evidence 2.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5415493636050911)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6213527465077189)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6001023983451786)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6655810113519095)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -0.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 4.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5415493636050912)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6001023983451788)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6213527465077189)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6655810113519096)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -1.3325241201679)
current most likely hypothesis: 001_cube with evidence 4.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.541549363605091)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6213527465077187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6001023983451788)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6655810113519096)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -2.3325241201679)
current most likely hypothesis: 001_cube with evidence 5.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.541549363605091)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6655810113519096)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6213527465077187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6001023983451788)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -3.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 4.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.541549363605091)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.621352746507719)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.665581011351909)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.600102398345179)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -4.3325241201679)
current most likely hypothesis: 001_cube with evidence 5.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.600102398345179)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.541549363605091)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -5.3325241201679)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.665581011351909)
current most likely hypothesis: 001_cube with evidence 7.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.541549363605091)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.600102398345179)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.665581011351909)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -6.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 7.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.541549363605091)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.600102398345179)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.665581011351909)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -7.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 6.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.54154936360509)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.600102398345179)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -8.3325241201679)
current most likely hypothesis: 001_cube with evidence 6.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.600102398345179)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -9.3325241201679)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.54154936360509)
current most likely hypothesis: 011_cylinder with evidence 6.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.621220070151185)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.54154936360509)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.600102398345179)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -10.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 8.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.54154936360509)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.600102398345179)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -11.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 10.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.54154936360509)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.600102398345179)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -12.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 9.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.66558101135191)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.54154936360509)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.600102398345179)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.621220070151185)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -13.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 8.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.54154936360509)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.66558101135191)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.600102398345179)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.621220070151185)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -14.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 7.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.66558101135191)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.600102398345179)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.54154936360509)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -15.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 6.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.66558101135191)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.60010239834518)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -16.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 5.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.60010239834518)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.66558101135191)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.541549363605093)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -17.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 5.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.66558101135191)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.60010239834518)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -18.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 4.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.541549363605093)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.66558101135191)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.60010239834518)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -19.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 3.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.621220070151185)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -20.3325241201679)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.66558101135191)
current most likely hypothesis: 011_cylinder with evidence 2.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.541549363605093)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.66558101135191)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.60010239834518)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -21.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 4.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.60010239834518)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -22.3325241201679)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.541549363605093)
current most likely hypothesis: 011_cylinder with evidence 3.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -23.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 2.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -24.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 1.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -25.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 0.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.621220070151185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.66558101135191)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -26.3325241201679)
current most likely hypothesis: 011_cylinder with evidence 1.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -27.541549363605093)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -27.60010239834518)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -27.621220070151185)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -27.3325241201679)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -27.66558101135191)
current most likely hypothesis: 011_cylinder with evidence 0.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -28.541549363605093)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -28.66558101135191)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -28.621220070151185)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -28.60010239834518)
Testing 1460 out of 1460 hypotheses for 011_cylinder (evidence > -28.3325241201679)
current most likely hypothesis: 011_cylinder with evidence -0.88
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Going into exploratory mode after 33 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 82 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 811 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.27843505823381987)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.27719619905378423)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.28572322368259523)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.37094996470758146)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > 0.5439135911004251)
current most likely hypothesis: 011_cylinder with evidence 2.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.7228038009462158)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6290500352924185)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7215649417661801)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.7142767763174047)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -0.45608640889957486)
current most likely hypothesis: 011_cylinder with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.7228038009462159)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6290500352924187)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.7142767763174047)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -1.4560864088995749)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.72156494176618)
current most likely hypothesis: 011_cylinder with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.722803800946216)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.72156494176618)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.714276776317405)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6290500352924187)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -2.4560864088995746)
current most likely hypothesis: 011_cylinder with evidence 5.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.722803800946216)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.714276776317405)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.72156494176618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6290500352924187)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -3.4560864088995746)
current most likely hypothesis: 011_cylinder with evidence 6.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.722803800946216)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.714276776317405)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.629050035292419)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.7215649417661805)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -4.456086408899575)
current most likely hypothesis: 001_cube with evidence 7.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.722803800946216)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.714276776317405)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.7215649417661805)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -5.456086408899575)
current most likely hypothesis: 001_cube with evidence 8.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.722803800946216)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.714219226084808)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.7215649417661805)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -6.456086408899575)
current most likely hypothesis: 001_cube with evidence 7.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.722803800946216)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.7215649417661805)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.714219226084808)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -7.456086408899575)
current most likely hypothesis: 001_cube with evidence 8.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.714219226084808)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -8.456086408899575)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.722803800946217)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.72156494176618)
current most likely hypothesis: 001_cube with evidence 7.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.722803800946217)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.72156494176618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.629050035292419)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.714219226084808)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -9.456086408899575)
current most likely hypothesis: 001_cube with evidence 6.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.629050035292419)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.714219226084808)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.72156494176618)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.722803800946217)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -10.456086408899575)
current most likely hypothesis: 001_cube with evidence 5.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.722803800946217)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.72156494176618)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.714219226084808)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -11.456086408899575)
current most likely hypothesis: 001_cube with evidence 4.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.714219226084808)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -12.456086408899575)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.629050035292419)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.72156494176618)
current most likely hypothesis: 001_cube with evidence 5.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.714219226084808)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.629050035292419)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.72156494176618)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -13.456086408899575)
current most likely hypothesis: 001_cube with evidence 6.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.71414409996087)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.72156494176618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.629050035292419)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -14.456086408899575)
current most likely hypothesis: 001_cube with evidence 5.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.71414409996087)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.629050035292419)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.72156494176618)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -15.456086408899575)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.722803800946217)
current most likely hypothesis: 001_cube with evidence 4.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.71414409996087)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.62905003529242)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.721564941766182)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.722803800946217)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -16.456086408899573)
current most likely hypothesis: 001_cube with evidence 3.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.71414409996087)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.721564941766182)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.722803800946217)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -17.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 4.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.71414409996087)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.62905003529242)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -18.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 3.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.722803800946217)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -19.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 2.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.714025933473533)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.722803800946217)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.721564941766182)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -20.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 4.28
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.721564941766182)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -21.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 5.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.714025933473533)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.722803800946217)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -22.456086408899573)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.721564941766182)
current most likely hypothesis: 011_cylinder with evidence 4.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.721564941766182)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -23.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 3.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.714025933473533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.62905003529242)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -24.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.721564941766182)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -25.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 4.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.721564941766182)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -26.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 6.42
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -27.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -27.714025933473533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -27.62905003529242)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -27.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -27.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -28.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -28.714025933473533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -28.62905003529242)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -28.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -28.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 10.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -29.722803800946217)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -29.721564941766182)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -29.714025933473533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -29.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -29.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 12.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -30.722803800946217)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -30.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -30.714025933473533)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -30.721564941766182)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -30.456086408899573)
current most likely hypothesis: 011_cylinder with evidence 14.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -31.722803800946217)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -31.714025933473533)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -31.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -31.456086408899573)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -31.721564941766182)
current most likely hypothesis: 011_cylinder with evidence 15.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -32.72280380094622)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -32.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -32.714025933473536)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -32.72156494176618)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -32.45608640889957)
current most likely hypothesis: 011_cylinder with evidence 17.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -33.72280380094622)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -33.62905003529242)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -33.714025933473536)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -33.72156494176618)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -33.45608640889957)
current most likely hypothesis: 011_cylinder with evidence 19.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -34.72280380094622)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -34.72156494176618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -34.62905003529242)
Testing 1622 out of 1622 hypotheses for 011_cylinder (evidence > -34.45608640889957)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -34.714025933473536)
current most likely hypothesis: 011_cylinder with evidence 21.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
all possible locations are in radius 0.1 of [-0.03798051  1.49995282  0.04644765]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.038  1.5    0.046], rotation [ 34.918  44.887 179.883], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 38 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 85 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 891 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.40009180041254966)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.39677313622493104)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.2980409381492691)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3998961042003423)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > 0.6769452740573709)
current most likely hypothesis: 006_disk with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.701959061850731)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5999081995874503)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6001038957996577)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -0.31836258657065253)
current most likely hypothesis: 011_cylinder with evidence 4.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5999081995874502)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.701959061850731)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6001038957996578)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -1.3183625865706525)
current most likely hypothesis: 011_cylinder with evidence 6.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5999081995874502)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.701959061850731)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.600103895799658)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -2.3183625865706525)
current most likely hypothesis: 011_cylinder with evidence 8.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5999081995874502)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.701959061850731)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -3.3183625865706525)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.600103895799658)
current most likely hypothesis: 011_cylinder with evidence 7.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.59990819958745)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.701959061850731)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.600103895799657)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -4.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 9.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.59990819958745)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.701959061850731)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -5.318362586570652)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.600103895799657)
current most likely hypothesis: 011_cylinder with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.59990819958745)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.701959061850731)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.600103895799657)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -6.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 7.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.59990819958745)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.701959061850731)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.603226863775069)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.600103895799657)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -7.318362586570652)
current most likely hypothesis: 001_cube with evidence 6.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.701826385494197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.59990819958745)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -8.318362586570652)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.600103895799657)
current most likely hypothesis: 011_cylinder with evidence 8.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.59990819958745)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.600103895799657)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.603226863775069)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.701826385494197)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -9.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 10.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.600103895799657)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.59990819958745)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.701826385494197)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -10.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 12.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.59990819958745)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.701826385494197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.600103895799657)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -11.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 14.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.59990819958745)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.701826385494197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.600103895799657)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -12.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 13.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.701826385494197)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.603226863775069)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.600103895799657)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.591870439492565)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -13.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 12.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.591870439492565)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.701826385494197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.600103895799657)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -14.318362586570652)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.603226863775069)
current most likely hypothesis: 011_cylinder with evidence 13.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.591870439492565)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.701826385494197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.600103895799657)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.603226863775069)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -15.318362586570652)
current most likely hypothesis: 011_cylinder with evidence 15.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.701826385494197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.591870439492567)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.60322686377507)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.600103895799656)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -16.31836258657065)
current most likely hypothesis: 011_cylinder with evidence 17.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.60322686377507)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.701826385494197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.591870439492567)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.600103895799656)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -17.31836258657065)
current most likely hypothesis: 011_cylinder with evidence 19.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.591870439492567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.701826385494197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.600103895799656)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.60322686377507)
Testing 1782 out of 1782 hypotheses for 011_cylinder (evidence > -18.31836258657065)
current most likely hypothesis: 011_cylinder with evidence 21.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
all possible locations are in radius 0.1 of [0.04272085 1.49524143 0.04212378]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.043 1.495 0.042], rotation [325. 315.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 21 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 86 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 974 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.473034759358289)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3125050929462695)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3709416321880421)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3984949978508353)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > 0.6670277883033149)
current most likely hypothesis: 011_cylinder with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6290583678119579)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.526965240641711)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6874949070537305)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6015050021491647)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -0.3329722116966851)
current most likely hypothesis: 011_cylinder with evidence 4.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5269652406417111)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.629058367811958)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6015050021491648)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6874949070537304)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -1.3329722116966851)
current most likely hypothesis: 011_cylinder with evidence 6.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.526965240641711)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.601505002149165)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.629058367811958)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6874949070537304)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -2.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 8.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.526965240641711)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6874949070537304)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.601505002149165)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.629058367811958)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -3.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 10.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.526965240641712)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.6290583678119575)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.601505002149165)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.687494907053731)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -4.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 12.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.526965240641712)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.601505002149165)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.687494907053731)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.628925691455424)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -5.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 14.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.526965240641712)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.628925691455424)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.601505002149165)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.687494907053731)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -6.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 16.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.526965240641712)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.601505002149165)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.628925691455424)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.687494907053731)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -7.3316078829168605)
current most likely hypothesis: 011_cylinder with evidence 18.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.628925691455425)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.68749490705373)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.526965240641712)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.601505002149164)
Testing 1948 out of 1948 hypotheses for 011_cylinder (evidence > -8.33160788291686)
current most likely hypothesis: 011_cylinder with evidence 20.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
all possible locations are in radius 0.1 of [0.04795752 1.53839396 0.03605087]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [0.048 1.538 0.036], rotation [ 35. 315.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 11 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 81 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 1051 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.38355459007596504)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.292880056426446)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.4077627803951719)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3951648759168893)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > 0.6594387133222023)
current most likely hypothesis: 011_cylinder with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.616445409924035)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.5922372196048281)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.707119943573554)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6048351240831107)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -0.3405612866777977)
current most likely hypothesis: 011_cylinder with evidence 4.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.707119943573554)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6048351240831107)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.592237219604828)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.6164454099240348)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -1.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 6.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.707119943573554)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.6087462481079937)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.592237219604828)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -2.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 5.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.6087462481079937)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.592237219604828)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.707119943573554)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -3.3202665492144)
current most likely hypothesis: 001_cube with evidence 6.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.608746248107994)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.707119943573554)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.592237219604828)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -4.3202665492144)
current most likely hypothesis: 001_cube with evidence 5.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.592237219604828)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.608746248107994)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.707119943573554)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -5.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 5.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.608746248107994)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.707119943573554)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.592237219604828)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -6.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.608746248107994)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.592237219604828)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.6048351240831105)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -7.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 9.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.608746248107995)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.60483512408311)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.707000912329626)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -8.3202665492144)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.592237219604828)
current most likely hypothesis: 011_cylinder with evidence 8.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.707000912329626)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.608746248107995)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.592237219604828)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -9.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.608746248107995)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.592237219604828)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -10.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.608746248107995)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.592237219604828)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -11.3202665492144)
current most likely hypothesis: 001_cube with evidence 6.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.592237219604828)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -12.3202665492144)
current most likely hypothesis: 001_cube with evidence 5.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.592237219604828)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -13.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 6.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.592237219604828)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -14.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 8.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.592237219604828)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -15.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 7.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.592237219604826)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -16.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 6.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.592237219604826)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -17.320266549214402)
current most likely hypothesis: 001_cube with evidence 6.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.592237219604826)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -18.320266549214402)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.60483512408311)
current most likely hypothesis: 001_cube with evidence 5.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.592237219604826)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.608746248107995)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -19.320266549214402)
current most likely hypothesis: 001_cube with evidence 4.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.592237219604826)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -20.320266549214402)
current most likely hypothesis: 001_cube with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.592237219604826)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -21.320266549214402)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.608746248107995)
current most likely hypothesis: 001_cube with evidence 2.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.608746248107995)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.58779372822635)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -22.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 3.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.608746248107995)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.58253798340567)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.60483512408311)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.707000912329626)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -23.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 5.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.608746248107995)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.60483512408311)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -24.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 7.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -25.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 9.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.58253798340567)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.608746248107995)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -26.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 11.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -27.60483512408311)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -27.707000912329626)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -27.58253798340567)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -27.608746248107995)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -27.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 12.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -28.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -28.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -28.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -28.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -28.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 14.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -29.608746248107995)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -29.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -29.58253798340567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -29.707000912329626)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -29.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 16.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -30.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -30.707000912329626)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -30.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -30.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -30.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 18.75
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -31.608746248107995)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -31.706922504033408)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -31.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -31.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -31.320266549214402)
current most likely hypothesis: 011_cylinder with evidence 17.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -32.60874624810799)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -32.58253798340567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -32.70692250403341)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -32.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -32.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 16.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -33.60874624810799)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -33.58253798340567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -33.70692250403341)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -33.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -33.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 15.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -34.60874624810799)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -34.58253798340567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -34.70692250403341)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -34.60483512408311)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -34.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 17.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -35.60874624810799)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -35.60483512408311)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -35.58253798340567)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -35.70692250403341)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -35.3202665492144)
current most likely hypothesis: 011_cylinder with evidence 19.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -36.60874624810799)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -36.70692250403341)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -36.58253798340567)
Testing 2102 out of 2102 hypotheses for 011_cylinder (evidence > -36.3202665492144)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -36.60483512408311)
current most likely hypothesis: 011_cylinder with evidence 21.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
all possible locations are in radius 0.1 of [-0.03797295  1.49992666  0.04645167]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.038  1.5    0.046], rotation [325.  45.   0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 40 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 88 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 1137 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': '011_cylinder',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 011_cylinder
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 011_cylinder with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4735839982097346)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.38345519957319674)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.29117114417923357)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3848660700069355)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > 0.645654794899933)
current most likely hypothesis: 011_cylinder with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5264160017902654)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6151339299930645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6165448004268033)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7088288558207665)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -0.35434520510006695)
current most likely hypothesis: 011_cylinder with evidence 4.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5264160017902655)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6165448004268033)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6151339299930645)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7088288558207665)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -1.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 6.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5264160017902655)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6151339299930645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6165448004268033)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.7088288558207667)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -2.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 8.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5264160017902655)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6151339299930645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6165448004268033)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.7088288558207667)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -3.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 7.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.526416001790265)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.616544800426803)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.615133929993064)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.708828855820767)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -4.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 6.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.708828855820767)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.616544800426803)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.526416001790265)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.615133929993064)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -5.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 8.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.616544800426803)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.708828855820767)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.526416001790265)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.615133929993064)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -6.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 10.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.616544800426803)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.526416001790265)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.708828855820767)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.615133929993064)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -7.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 12.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.615133929993064)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.616544800426803)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.526416001790265)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.708828855820766)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -8.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 14.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.708828855820766)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.616544800426803)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.526416001790265)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.615133929993064)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -9.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 16.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.616544800426803)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.708828855820766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.615133929993064)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.526416001790265)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -10.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 18.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.616544800426803)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.615133929993064)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.526416001790265)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.708828855820766)
Testing 2274 out of 2274 hypotheses for 011_cylinder (evidence > -11.354345205100067)
current most likely hypothesis: 011_cylinder with evidence 20.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['011_cylinder']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.05384538  1.52269713  0.02645951]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 011_cylinder at location [-0.054  1.523  0.026], rotation [35. 45.  0.], and scale 1.0
learning_module_0 recognized object 011_cylinder
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
011_cylinder already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '011_cylinder'])
Updating existing graph for 011_cylinder
adding 83 observations
Extended graph 011_cylinder with new points. New model:
{'patch_0': Model for 011_cylinder:
   Contains 1213 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '011_cylinder',
 '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_curved_objects_after_flat_and_logo/supervised_pre_training_curved_objects_after_flat_and_logo-parallel_train_episode_011_cylinder/pretrained
logger initialized
loading models
loading 001_cube with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 001_cube:
   Contains 1614 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 006_disk with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 006_disk:
   Contains 1047 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 021_logo_tbp with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 021_logo_tbp:
   Contains 148 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 022_logo_numenta with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 022_logo_numenta:
   Contains 103 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading models
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.78
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.41712532269346675)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.1511055486024197)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.2336969147482705)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.35614935335836473)
current most likely hypothesis: 006_disk with evidence 2.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5828746773065332)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8488944513975802)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7663030852517295)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6438506466416353)
current most likely hypothesis: 006_disk with evidence 3.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5828746773065332)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6438506466416354)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8488944513975802)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7663030852517294)
current most likely hypothesis: 001_cube with evidence 3.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7663030852517294)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8488944513975802)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.582874677306533)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6438506466416354)
current most likely hypothesis: 001_cube with evidence 4.7
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.582874677306533)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8488944513975802)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7663030852517294)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6438506466416354)
current most likely hypothesis: 001_cube with evidence 5.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.582874677306533)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.76630308525173)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.643850646641635)
current most likely hypothesis: 001_cube with evidence 6.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.76630308525173)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.582874677306533)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.643850646641635)
current most likely hypothesis: 001_cube with evidence 7.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.76630308525173)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.643850646641635)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.582874677306533)
current most likely hypothesis: 001_cube with evidence 8.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.582874677306533)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.643850646641635)
current most likely hypothesis: 001_cube with evidence 7.64
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.643850646641635)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.582874677306533)
current most likely hypothesis: 001_cube with evidence 6.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.582874677306533)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.76630308525173)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.643850646641635)
current most likely hypothesis: 001_cube with evidence 7.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.582874677306533)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.643850646641635)
current most likely hypothesis: 001_cube with evidence 6.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.84889445139758)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.582874677306533)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.643850646641635)
current most likely hypothesis: 001_cube with evidence 5.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.582874677306533)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.643850646641635)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.76630308525173)
current most likely hypothesis: 001_cube with evidence 4.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.582874677306533)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.643850646641635)
current most likely hypothesis: 001_cube with evidence 3.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.582874677306533)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.76630308525173)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.643850646641635)
current most likely hypothesis: 001_cube with evidence 2.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.582874677306533)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.76630308525173)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.643850646641635)
current most likely hypothesis: 001_cube with evidence 1.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.84889445139758)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.766303085251728)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.643850646641635)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.582874677306535)
current most likely hypothesis: 001_cube with evidence 0.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.582874677306535)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.766303085251728)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.84889445139758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.643850646641635)
current most likely hypothesis: 001_cube with evidence -0.38
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Going into exploratory mode after 20 steps

---Updating memory of learning_module_0---
016_sphere not in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta'])
Adding a new graph to memory.
init object model with id 016_sphere
building graph from 72 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7f84dd980430>
Added new graph with id 016_sphere to memory.
Model for 016_sphere:
   Contains 72 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


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


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.96
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4243980420451008)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.15203208556149733)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > 0.6837101918208803)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3199286987522282)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.22737967914438503)
current most likely hypothesis: 016_sphere with evidence 2.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5756019579548992)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8479679144385026)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7726203208556149)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -0.31628980817911967)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6800713012477718)
current most likely hypothesis: 016_sphere with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8479679144385026)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7726203208556148)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -1.3162898081791197)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.680071301247772)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5756019579548992)
current most likely hypothesis: 001_cube with evidence 3.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8479679144385024)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.680071301247772)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.575601957954899)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.772620320855615)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -2.3162898081791194)
current most likely hypothesis: 001_cube with evidence 4.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8479679144385024)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.772620320855615)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -3.3162898081791194)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.680071301247772)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.575601957954899)
current most likely hypothesis: 001_cube with evidence 5.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.847967914438502)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.575601957954899)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.6800713012477715)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.772620320855615)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -4.3162898081791194)
current most likely hypothesis: 001_cube with evidence 6.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -5.3162898081791194)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.772620320855615)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.575601957954899)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.6800713012477715)
current most likely hypothesis: 001_cube with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.575601957954899)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.772620320855615)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -6.3162898081791194)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.6800713012477715)
current most likely hypothesis: 001_cube with evidence 8.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.575601957954899)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -7.3162898081791194)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.6800713012477715)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.772620320855615)
current most likely hypothesis: 001_cube with evidence 7.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.772620320855616)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -8.31628980817912)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.680071301247771)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.575601957954898)
current most likely hypothesis: 001_cube with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -9.31628980817912)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.772620320855616)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.575601957954898)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.680071301247771)
current most likely hypothesis: 001_cube with evidence 7.58
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.772620320855616)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -10.31628980817912)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.680071301247771)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.575601957954898)
current most likely hypothesis: 016_sphere with evidence 8.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.575601957954898)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -11.31628980817912)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.680071301247771)
current most likely hypothesis: 016_sphere with evidence 10.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.772620320855616)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.575601957954898)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -12.31628980817912)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.680071301247771)
current most likely hypothesis: 016_sphere with evidence 11.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.575601957954898)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.680071301247771)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -13.31628980817912)
current most likely hypothesis: 016_sphere with evidence 13.09
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.575601957954898)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -14.31628980817912)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.772620320855616)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.680071301247771)
current most likely hypothesis: 016_sphere with evidence 14.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.575601957954898)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -15.31628980817912)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.680071301247771)
current most likely hypothesis: 016_sphere with evidence 15.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -16.31628980817912)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.772620320855616)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.5756019579549)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.68007130124777)
current most likely hypothesis: 016_sphere with evidence 17.44
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.5756019579549)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.68007130124777)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -17.31628980817912)
current most likely hypothesis: 016_sphere with evidence 16.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.5756019579549)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -18.31628980817912)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.68007130124777)
current most likely hypothesis: 016_sphere with evidence 15.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.68007130124777)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -19.31628980817912)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.5756019579549)
current most likely hypothesis: 016_sphere with evidence 14.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.847967914438502)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.68007130124777)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -20.31628980817912)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.772620320855616)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.5756019579549)
current most likely hypothesis: 016_sphere with evidence 13.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.5756019579549)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -21.31628980817912)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.772620320855616)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.68007130124777)
current most likely hypothesis: 016_sphere with evidence 14.87
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.5756019579549)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -22.31628980817912)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.847967914438502)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.772620320855616)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.68007130124777)
current most likely hypothesis: 016_sphere with evidence 16.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -23.31628980817912)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.68007130124777)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.5756019579549)
current most likely hypothesis: 016_sphere with evidence 17.77
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.772620320855616)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -24.31628980817912)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.5756019579549)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.68007130124777)
current most likely hypothesis: 016_sphere with evidence 19.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.5756019579549)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.772620320855616)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.68007130124777)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.847967914438502)
Testing 576 out of 576 hypotheses for 016_sphere (evidence > -25.31628980817912)
current most likely hypothesis: 016_sphere with evidence 20.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
all possible locations are in radius 0.1 of [-0.01753342  1.51869002  0.04291677]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.018  1.519  0.043], rotation [3.59999e+02 1.00000e-03 3.59028e+02], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 29 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 73 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 145 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.22984626810663505)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.1488235294117647)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.32616755793226393)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > 0.6899973813708601)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4391772062360298)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6738324420677361)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8511764705882353)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5608227937639703)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7701537318933649)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -0.3100026186291399)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8511764705882352)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -1.3100026186291398)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.770153731893365)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5608227937639703)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6738324420677362)
current most likely hypothesis: 016_sphere with evidence 5.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.851176470588235)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.56082279376397)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.673832442067736)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -2.31000261862914)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.770153731893365)
current most likely hypothesis: 001_cube with evidence 4.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.770153731893365)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.851176470588235)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -3.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.56082279376397)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.673832442067736)
current most likely hypothesis: 001_cube with evidence 5.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.770153731893365)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -4.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.56082279376397)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.673832442067736)
current most likely hypothesis: 001_cube with evidence 6.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.673832442067736)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.56082279376397)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -5.31000261862914)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.770153731893365)
current most likely hypothesis: 001_cube with evidence 7.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.673832442067736)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.851176470588236)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.56082279376397)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.770153731893365)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -6.31000261862914)
current most likely hypothesis: 016_sphere with evidence 7.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.56082279376397)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.770153731893365)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -7.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.673832442067736)
current most likely hypothesis: 016_sphere with evidence 6.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.851176470588236)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.673832442067736)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -8.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.56082279376397)
current most likely hypothesis: 016_sphere with evidence 8.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.56082279376397)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -9.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.673832442067736)
current most likely hypothesis: 001_cube with evidence 7.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.673832442067736)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.56082279376397)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -10.31000261862914)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.851176470588236)
current most likely hypothesis: 001_cube with evidence 6.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.56082279376397)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.770153731893366)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -11.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.673832442067736)
current most likely hypothesis: 016_sphere with evidence 7.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.673832442067736)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.56082279376397)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -12.31000261862914)
current most likely hypothesis: 016_sphere with evidence 6.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.770153731893366)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.673832442067736)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.56082279376397)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -13.31000261862914)
current most likely hypothesis: 016_sphere with evidence 5.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.770153731893366)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -14.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.56082279376397)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.673832442067736)
current most likely hypothesis: 016_sphere with evidence 4.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.56082279376397)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.770153731893366)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -15.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.673832442067736)
current most likely hypothesis: 016_sphere with evidence 3.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.770153731893366)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.56082279376397)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.673832442067734)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -16.31000261862914)
current most likely hypothesis: 016_sphere with evidence 2.62
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.770153731893366)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.56082279376397)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -17.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.673832442067734)
current most likely hypothesis: 016_sphere with evidence 4.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.770153731893366)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.56082279376397)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -18.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.673832442067734)
current most likely hypothesis: 016_sphere with evidence 3.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.770153731893366)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -19.31000261862914)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.851176470588236)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.673832442067734)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.56082279376397)
current most likely hypothesis: 016_sphere with evidence 4.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.851176470588236)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.673832442067734)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -20.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.56082279376397)
current most likely hypothesis: 016_sphere with evidence 5.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.56082279376397)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.770153731893366)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -21.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.673832442067734)
current most likely hypothesis: 016_sphere with evidence 4.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.851176470588236)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.770153731893366)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.56082279376397)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -22.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.673832442067734)
current most likely hypothesis: 016_sphere with evidence 3.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.851176470588236)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.673832442067734)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -23.31000261862914)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.56082279376397)
current most likely hypothesis: 016_sphere with evidence 2.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.56082279376397)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -24.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.673832442067734)
current most likely hypothesis: 016_sphere with evidence 1.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -25.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.673832442067734)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.56082279376397)
current most likely hypothesis: 016_sphere with evidence 0.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.770153731893366)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.851176470588236)
Testing 1160 out of 1160 hypotheses for 016_sphere (evidence > -26.31000261862914)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.673832442067734)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.56082279376397)
current most likely hypothesis: 016_sphere with evidence -0.02
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Going into exploratory mode after 31 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 71 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 216 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4284239320987758)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.35362530865015507)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14442243218530937)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23485693558606208)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > 0.7174071992996572)
current most likely hypothesis: 016_sphere with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6463746913498449)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5715760679012243)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8555775678146906)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -0.28259280070034276)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7651430644139379)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7651430644139379)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8555775678146906)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -1.2825928007003427)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5715760679012243)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.646374691349845)
current most likely hypothesis: 016_sphere with evidence 5.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8555775678146906)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.765143064413938)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5715760679012245)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -2.2825928007003427)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6463746913498447)
current most likely hypothesis: 016_sphere with evidence 6.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6463746913498447)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -3.2825928007003427)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8555775678146906)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5715760679012245)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.765143064413938)
current most likely hypothesis: 016_sphere with evidence 8.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.5715760679012245)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.855577567814691)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -4.282592800700343)
current most likely hypothesis: 016_sphere with evidence 9.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.855577567814691)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -5.282592800700343)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.5715760679012245)
current most likely hypothesis: 016_sphere with evidence 8.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.5715760679012245)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -6.282592800700343)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.855577567814691)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.646374691349845)
current most likely hypothesis: 016_sphere with evidence 9.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.5715760679012245)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.855577567814691)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -7.282592800700343)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.765143064413937)
current most likely hypothesis: 016_sphere with evidence 8.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.855577567814692)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.571576067901225)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -8.282592800700343)
current most likely hypothesis: 016_sphere with evidence 7.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.571576067901225)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.855577567814692)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.646374691349845)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -9.282592800700343)
current most likely hypothesis: 016_sphere with evidence 9.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -10.282592800700343)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.855577567814692)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.571576067901225)
current most likely hypothesis: 016_sphere with evidence 8.61
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.855577567814692)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.571576067901225)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -11.282592800700343)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.646374691349845)
current most likely hypothesis: 016_sphere with evidence 10.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.855577567814692)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -12.282592800700343)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.571576067901225)
current most likely hypothesis: 016_sphere with evidence 11.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.765143064413937)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.855577567814692)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.646374691349845)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -13.282592800700343)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.571576067901225)
current most likely hypothesis: 016_sphere with evidence 13.05
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.646374691349845)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.855577567814692)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -14.282592800700343)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.571576067901225)
current most likely hypothesis: 016_sphere with evidence 14.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.855577567814692)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -15.282592800700343)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.646374691349845)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.571576067901225)
current most likely hypothesis: 016_sphere with evidence 16.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.85557756781469)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -16.282592800700343)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.571576067901226)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.646374691349845)
current most likely hypothesis: 016_sphere with evidence 17.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.571576067901226)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.85557756781469)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.765143064413937)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.646374691349845)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -17.282592800700343)
current most likely hypothesis: 016_sphere with evidence 18.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.571576067901226)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.85557756781469)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.646374691349845)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.765143064413937)
Testing 1728 out of 1728 hypotheses for 016_sphere (evidence > -18.282592800700343)
current most likely hypothesis: 016_sphere with evidence 20.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
all possible locations are in radius 0.1 of [0.01152744 1.50607291 0.04824832]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.012 1.506 0.048], rotation [3.59999e+02 1.00000e-03 3.59171e+02], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 22 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 69 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 285 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.43741559781807443)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.2297224290973472)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14399380804953563)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3446336429308564)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > 0.7239245531181496)
current most likely hypothesis: 016_sphere with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7702775709026528)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8560061919504643)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -0.2760754468818504)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5625844021819255)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6553663570691436)
current most likely hypothesis: 016_sphere with evidence 3.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5625844021819255)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6553663570691435)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7702775709026528)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8560061919504642)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -1.2760754468818503)
current most likely hypothesis: 001_cube with evidence 3.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8560061919504642)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5625844021819253)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6553663570691435)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -2.2760754468818503)
current most likely hypothesis: 001_cube with evidence 4.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6553663570691435)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5625844021819253)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8560061919504642)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -3.2760754468818503)
current most likely hypothesis: 001_cube with evidence 5.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.655366357069143)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.856006191950464)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.562584402181925)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -4.27607544688185)
current most likely hypothesis: 001_cube with evidence 6.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.856006191950464)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.655366357069143)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.562584402181925)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -5.27607544688185)
current most likely hypothesis: 001_cube with evidence 5.65
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.562584402181925)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.856006191950464)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -6.27607544688185)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.655366357069143)
current most likely hypothesis: 001_cube with evidence 4.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.856006191950464)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -7.27607544688185)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.655366357069143)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.562584402181925)
current most likely hypothesis: 001_cube with evidence 3.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -8.276075446881851)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.655366357069143)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.562584402181926)
current most likely hypothesis: 001_cube with evidence 2.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.770277570902653)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -9.276075446881851)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.655366357069143)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.562584402181926)
current most likely hypothesis: 001_cube with evidence 1.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.655366357069143)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.562584402181926)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.856006191950463)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -10.276075446881851)
current most likely hypothesis: 001_cube with evidence 0.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.770277570902653)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.655366357069143)
Testing 2280 out of 2280 hypotheses for 016_sphere (evidence > -11.276075446881851)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.562584402181926)
current most likely hypothesis: 001_cube with evidence -0.35
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Going into exploratory mode after 15 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 73 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 358 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': '016_sphere',
 '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: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.33373058314234794)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4446011940129587)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14775401069518715)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.22877674939005752)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > 0.713022903677634)
current most likely hypothesis: 016_sphere with evidence 2.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8522459893048129)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7712232506099425)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -0.286977096322366)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5553988059870413)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6662694168576521)
current most likely hypothesis: 016_sphere with evidence 3.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6662694168576522)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5553988059870414)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7712232506099426)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8522459893048129)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -1.286977096322366)
current most likely hypothesis: 016_sphere with evidence 5.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7712232506099426)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5553988059870414)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.852245989304813)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -2.286977096322366)
current most likely hypothesis: 001_cube with evidence 4.67
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5553988059870414)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7712232506099426)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.852245989304813)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -3.286977096322366)
current most likely hypothesis: 001_cube with evidence 5.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.771223250609943)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.852245989304813)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -4.2869770963223655)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.555398805987041)
current most likely hypothesis: 001_cube with evidence 6.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -5.2869770963223655)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.852245989304813)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.555398805987041)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.666269416857652)
current most likely hypothesis: 001_cube with evidence 7.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.555398805987041)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -6.2869770963223655)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.852245989304813)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.666269416857652)
current most likely hypothesis: 001_cube with evidence 8.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.555398805987041)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.852245989304813)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.666269416857652)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -7.2869770963223655)
current most likely hypothesis: 001_cube with evidence 7.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.555398805987041)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.666269416857652)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.852245989304812)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -8.286977096322365)
current most likely hypothesis: 001_cube with evidence 6.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.852245989304812)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -9.286977096322365)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.555398805987041)
current most likely hypothesis: 001_cube with evidence 5.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.852245989304812)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.555398805987041)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -10.286977096322365)
current most likely hypothesis: 001_cube with evidence 4.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.852245989304812)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.666269416857652)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.771223250609943)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.555398805987041)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -11.286977096322365)
current most likely hypothesis: 001_cube with evidence 3.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.666269416857652)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.852245989304812)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.555398805987041)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -12.286977096322365)
current most likely hypothesis: 001_cube with evidence 4.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.555398805987041)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.852245989304812)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.666269416857652)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -13.286977096322365)
current most likely hypothesis: 001_cube with evidence 3.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.555398805987041)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.852245989304812)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -14.286977096322365)
current most likely hypothesis: 001_cube with evidence 2.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.771223250609943)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.852245989304812)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -15.286977096322365)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.666269416857652)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.555398805987041)
current most likely hypothesis: 001_cube with evidence 1.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.55539880598704)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.666269416857652)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.852245989304812)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.771223250609943)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -16.286977096322367)
current most likely hypothesis: 001_cube with evidence 0.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.55539880598704)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.852245989304812)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.771223250609943)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.666269416857652)
Testing 2864 out of 2864 hypotheses for 016_sphere (evidence > -17.286977096322367)
current most likely hypothesis: 001_cube with evidence -0.43
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Going into exploratory mode after 23 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 74 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 432 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14399380804953563)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.2297224290973472)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > 0.7484123490655282)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.36130030959752346)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4207489311514074)
current most likely hypothesis: 016_sphere with evidence 2.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5792510688485926)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6386996904024765)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8560061919504643)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7702775709026528)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -0.2515876509344718)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5792510688485926)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7702775709026528)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6386996904024764)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8560061919504642)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -1.2515876509344719)
current most likely hypothesis: 016_sphere with evidence 5.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.579251068848593)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6386996904024764)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8560061919504642)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -2.251587650934472)
current most likely hypothesis: 001_cube with evidence 4.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -3.251587650934472)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8560061919504642)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6386996904024764)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.579251068848593)
current most likely hypothesis: 016_sphere with evidence 5.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.579251068848593)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -4.251587650934471)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.856006191950464)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.638699690402476)
current most likely hypothesis: 016_sphere with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.856006191950464)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.638699690402476)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.579251068848593)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -5.251587650934471)
current most likely hypothesis: 016_sphere with evidence 6.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.856006191950464)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -6.251587650934471)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.579251068848593)
current most likely hypothesis: 016_sphere with evidence 5.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.638699690402476)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.856006191950464)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -7.251587650934471)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.579251068848593)
current most likely hypothesis: 016_sphere with evidence 4.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -8.251587650934471)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.638699690402476)
current most likely hypothesis: 016_sphere with evidence 5.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.856006191950463)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.579251068848592)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -9.251587650934471)
current most likely hypothesis: 016_sphere with evidence 7.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -10.251587650934471)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.638699690402476)
current most likely hypothesis: 016_sphere with evidence 8.69
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.579251068848592)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -11.251587650934471)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.638699690402476)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.770277570902653)
current most likely hypothesis: 016_sphere with evidence 10.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.579251068848592)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.638699690402476)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -12.251587650934471)
current most likely hypothesis: 016_sphere with evidence 9.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.856006191950463)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.579251068848592)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -13.251587650934471)
current most likely hypothesis: 016_sphere with evidence 8.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -14.251587650934471)
current most likely hypothesis: 016_sphere with evidence 9.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.638699690402476)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.579251068848592)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -15.251587650934471)
current most likely hypothesis: 016_sphere with evidence 8.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.638699690402476)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.856006191950463)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -16.25158765093447)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.770277570902653)
current most likely hypothesis: 016_sphere with evidence 10.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.579251068848592)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.638699690402476)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -17.25158765093447)
current most likely hypothesis: 016_sphere with evidence 9.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.579251068848592)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -18.25158765093447)
current most likely hypothesis: 016_sphere with evidence 8.0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.856006191950463)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -19.25158765093447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.638699690402476)
current most likely hypothesis: 016_sphere with evidence 9.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.638699690402476)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -20.25158765093447)
current most likely hypothesis: 016_sphere with evidence 8.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.856006191950463)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -21.25158765093447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.638699690402476)
current most likely hypothesis: 016_sphere with evidence 9.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.770277570902653)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -22.25158765093447)
current most likely hypothesis: 016_sphere with evidence 8.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -23.25158765093447)
current most likely hypothesis: 016_sphere with evidence 7.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -24.25158765093447)
current most likely hypothesis: 016_sphere with evidence 6.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -25.25158765093447)
current most likely hypothesis: 016_sphere with evidence 5.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.579251068848592)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.638699690402476)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.856006191950463)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -26.25158765093447)
current most likely hypothesis: 016_sphere with evidence 4.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.770277570902653)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.856006191950463)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -27.25158765093447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.638699690402476)
current most likely hypothesis: 016_sphere with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -28.25158765093447)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.770277570902653)
current most likely hypothesis: 016_sphere with evidence 2.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -29.25158765093447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.638699690402476)
current most likely hypothesis: 016_sphere with evidence 1.91
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.579251068848592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.856006191950463)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.770277570902653)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -30.25158765093447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.638699690402476)
current most likely hypothesis: 016_sphere with evidence 0.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.579251068848592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.770277570902653)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.856006191950463)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.638699690402476)
Testing 3456 out of 3456 hypotheses for 016_sphere (evidence > -31.25158765093447)
current most likely hypothesis: 016_sphere with evidence -0.09
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Going into exploratory mode after 39 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 71 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 500 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23091578682321262)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14989304812834225)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4338194940967856)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3481546927071221)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > 0.735265363138015)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5661805059032143)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8501069518716577)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7690842131767874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -0.26473463686198495)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6518453072928778)
current most likely hypothesis: 016_sphere with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8501069518716577)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -1.264734636861985)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6518453072928778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7690842131767874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5661805059032143)
current most likely hypothesis: 016_sphere with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7690842131767877)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8501069518716577)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.651845307292878)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5661805059032146)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -2.264734636861985)
current most likely hypothesis: 001_cube with evidence 4.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5661805059032146)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.651845307292878)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8501069518716577)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7690842131767877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -3.264734636861985)
current most likely hypothesis: 016_sphere with evidence 5.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.769084213176788)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.651845307292878)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -4.264734636861985)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.850106951871657)
current most likely hypothesis: 001_cube with evidence 6.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.651845307292878)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.850106951871657)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.769084213176788)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -5.264734636861985)
current most likely hypothesis: 001_cube with evidence 7.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.850106951871657)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.566180505903215)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -6.264734636861985)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.769084213176788)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.651845307292878)
current most likely hypothesis: 001_cube with evidence 8.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.651845307292878)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.850106951871657)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.769084213176788)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -7.264734636861985)
current most likely hypothesis: 016_sphere with evidence 9.26
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.850106951871657)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.769084213176788)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -8.264734636861984)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.566180505903215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.651845307292877)
current most likely hypothesis: 016_sphere with evidence 10.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.651845307292877)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.850106951871657)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.769084213176788)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -9.264734636861984)
current most likely hypothesis: 016_sphere with evidence 9.69
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.769084213176788)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.850106951871657)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -10.264734636861984)
current most likely hypothesis: 016_sphere with evidence 11.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.769084213176788)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.850106951871657)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -11.264734636861984)
current most likely hypothesis: 016_sphere with evidence 12.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.850106951871657)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.769084213176788)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -12.264734636861984)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.566180505903215)
current most likely hypothesis: 016_sphere with evidence 11.65
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.769084213176788)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.850106951871657)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -13.264734636861984)
current most likely hypothesis: 016_sphere with evidence 13.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.769084213176788)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.850106951871657)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.651845307292877)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.566180505903215)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -14.264734636861984)
current most likely hypothesis: 016_sphere with evidence 14.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.850106951871657)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -15.264734636861984)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.769084213176788)
current most likely hypothesis: 016_sphere with evidence 13.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.566180505903215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.651845307292877)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -16.264734636861984)
current most likely hypothesis: 016_sphere with evidence 15.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -17.264734636861984)
current most likely hypothesis: 016_sphere with evidence 16.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -18.264734636861984)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.651845307292877)
current most likely hypothesis: 016_sphere with evidence 15.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -19.264734636861984)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.651845307292877)
current most likely hypothesis: 016_sphere with evidence 16.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.76908421317679)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.566180505903215)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -20.264734636861984)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.651845307292877)
current most likely hypothesis: 016_sphere with evidence 15.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.651845307292877)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -21.264734636861984)
current most likely hypothesis: 016_sphere with evidence 14.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -22.264734636861984)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.566180505903215)
current most likely hypothesis: 016_sphere with evidence 13.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -23.264734636861984)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.651845307292877)
current most likely hypothesis: 016_sphere with evidence 12.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -24.264734636861984)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.651845307292877)
current most likely hypothesis: 016_sphere with evidence 11.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -25.264734636861984)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.566180505903215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.651845307292877)
current most likely hypothesis: 016_sphere with evidence 10.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.566180505903215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.651845307292877)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -26.264734636861984)
current most likely hypothesis: 016_sphere with evidence 12.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -27.264734636861984)
current most likely hypothesis: 016_sphere with evidence 11.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.651845307292877)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.566180505903215)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -28.264734636861984)
current most likely hypothesis: 016_sphere with evidence 12.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.651845307292877)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.566180505903215)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -29.264734636861984)
current most likely hypothesis: 016_sphere with evidence 11.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -30.264734636861984)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.566180505903215)
current most likely hypothesis: 016_sphere with evidence 10.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.566180505903215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.651845307292877)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -31.264734636861984)
current most likely hypothesis: 016_sphere with evidence 12.21
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -32.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -32.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -32.26473463686199)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -32.651845307292874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -32.85010695187166)
current most likely hypothesis: 016_sphere with evidence 11.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -33.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -33.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -33.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -33.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -33.26473463686199)
current most likely hypothesis: 016_sphere with evidence 10.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -34.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -34.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -34.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -34.26473463686199)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -34.651845307292874)
current most likely hypothesis: 016_sphere with evidence 9.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -35.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -35.651845307292874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -35.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -35.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -35.26473463686199)
current most likely hypothesis: 016_sphere with evidence 8.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -36.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -36.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -36.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -36.26473463686199)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -36.651845307292874)
current most likely hypothesis: 016_sphere with evidence 9.67
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -37.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -37.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -37.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -37.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -37.26473463686199)
current most likely hypothesis: 016_sphere with evidence 11.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -38.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -38.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -38.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -38.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -38.26473463686199)
current most likely hypothesis: 016_sphere with evidence 12.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -39.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -39.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -39.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -39.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -39.26473463686199)
current most likely hypothesis: 016_sphere with evidence 11.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -40.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -40.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -40.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -40.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -40.26473463686199)
current most likely hypothesis: 016_sphere with evidence 10.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -41.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -41.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -41.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -41.26473463686199)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -41.651845307292874)
current most likely hypothesis: 016_sphere with evidence 9.59
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -42.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -42.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -42.76908421317679)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -42.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -42.26473463686199)
current most likely hypothesis: 016_sphere with evidence 11.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -43.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -43.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -43.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -43.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -43.264734222534955)
current most likely hypothesis: 016_sphere with evidence 10.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -44.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -44.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -44.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -44.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -44.264734222534955)
current most likely hypothesis: 016_sphere with evidence 9.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -45.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -45.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -45.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -45.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -45.264734222534955)
current most likely hypothesis: 016_sphere with evidence 8.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -46.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -46.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -46.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -46.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -46.264734222534955)
current most likely hypothesis: 016_sphere with evidence 7.06
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -47.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -47.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -47.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -47.264734222534955)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -47.651845307292874)
current most likely hypothesis: 016_sphere with evidence 8.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -48.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -48.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -48.264734222534955)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -48.651845307292874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -48.85010695187166)
current most likely hypothesis: 016_sphere with evidence 7.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -49.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -49.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -49.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -49.264734222534955)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -49.56618050590322)
current most likely hypothesis: 016_sphere with evidence 6.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -50.76908421317679)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -50.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -50.264734222534955)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -50.651845307292874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -50.85010695187166)
current most likely hypothesis: 016_sphere with evidence 5.54
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -51.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -51.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -51.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -51.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -51.264734222534955)
current most likely hypothesis: 016_sphere with evidence 4.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -52.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -52.651845307292874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -52.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -52.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -52.264734222534955)
current most likely hypothesis: 016_sphere with evidence 5.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -53.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -53.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -53.264734222534955)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -53.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -53.651845307292874)
current most likely hypothesis: 016_sphere with evidence 7.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -54.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -54.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -54.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -54.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -54.264734222534955)
current most likely hypothesis: 016_sphere with evidence 6.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -55.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -55.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -55.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -55.264734222534955)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -55.76908421317679)
current most likely hypothesis: 016_sphere with evidence 5.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 66 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -56.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -56.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -56.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -56.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -56.264734222534955)
current most likely hypothesis: 016_sphere with evidence 6.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 66 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 67 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 67 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -57.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -57.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -57.85010695187166)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -57.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -57.264734222534955)
current most likely hypothesis: 016_sphere with evidence 8.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 67 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 68 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 68 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -58.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -58.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -58.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -58.264734222534955)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -58.651845307292874)
current most likely hypothesis: 016_sphere with evidence 7.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 68 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -59.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -59.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -59.76908421317679)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -59.264734222534955)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -59.85010695187166)
current most likely hypothesis: 016_sphere with evidence 6.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 69 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 70 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 70 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 70 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 70 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -60.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -60.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -60.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -60.85010695187166)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -60.264734222534955)
current most likely hypothesis: 016_sphere with evidence 5.33
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 70 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 71 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 71 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -61.651845307292874)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -61.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -61.264734222534955)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -61.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -61.85010695187166)
current most likely hypothesis: 016_sphere with evidence 4.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 71 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 72 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 72 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -62.651845307292874)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -62.76908421317679)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -62.85010695187166)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -62.56618050590322)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -62.264734222534955)
current most likely hypothesis: 016_sphere with evidence 3.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 72 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -63.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -63.85010695187166)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -63.76908421317679)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -63.651845307292874)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -63.264734222534955)
current most likely hypothesis: 016_sphere with evidence 2.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 73 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 74 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -64.65184530729287)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -64.85010695187165)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -64.56618050590322)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -64.7690842131768)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -64.26473422253495)
current most likely hypothesis: 016_sphere with evidence 1.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 75 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 76 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -65.56618050590322)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -65.85010695187165)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -65.7690842131768)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -65.65184530729287)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -65.26473422253495)
current most likely hypothesis: 016_sphere with evidence 0.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 76 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 77 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -66.7690842131768)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -66.85010695187165)
Testing 4000 out of 4000 hypotheses for 016_sphere (evidence > -66.26473422253495)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -66.56618050590322)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -66.65184530729287)
current most likely hypothesis: 016_sphere with evidence -0.67
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 78 ---
Going into exploratory mode after 78 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 75 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 574 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23464860035735557)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.13058823529411767)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4161152882205507)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3659339525283801)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > 0.7530340588654514)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7653513996426444)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -0.24696594113454862)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8694117647058823)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5838847117794492)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6340660474716199)
current most likely hypothesis: 016_sphere with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5838847117794492)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7653513996426444)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8694117647058823)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6340660474716198)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -1.2469659411345486)
current most likely hypothesis: 016_sphere with evidence 5.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.869411764705882)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.765351399642644)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.583884711779449)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -2.2469659411345484)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6340660474716198)
current most likely hypothesis: 016_sphere with evidence 6.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.583884711779449)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.765351399642644)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6340660474716198)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -3.2469659411345484)
current most likely hypothesis: 016_sphere with evidence 5.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.583884711779449)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.765351399642644)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -4.246965941134548)
current most likely hypothesis: 016_sphere with evidence 7.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.583884711779449)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.765351399642644)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -5.246965941134548)
current most likely hypothesis: 001_cube with evidence 7.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.583884711779449)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.869411764705882)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.765351399642644)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -6.246965941134548)
current most likely hypothesis: 016_sphere with evidence 7.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.765351399642644)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -7.246965941134548)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.583884711779449)
current most likely hypothesis: 016_sphere with evidence 9.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.869411764705882)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.583884711779449)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -8.246965941134548)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.63406604747162)
current most likely hypothesis: 016_sphere with evidence 8.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.869411764705882)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.765351399642643)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.63406604747162)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.583884711779449)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -9.246965941134548)
current most likely hypothesis: 016_sphere with evidence 9.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.765351399642643)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.583884711779449)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -10.246965941134548)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.869411764705882)
current most likely hypothesis: 016_sphere with evidence 11.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -11.246965941134548)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.583884711779449)
current most likely hypothesis: 016_sphere with evidence 12.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.583884711779449)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -12.246965941134548)
current most likely hypothesis: 016_sphere with evidence 11.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.63406604747162)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.869411764705882)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.765351399642643)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.583884711779449)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -13.246965941134548)
current most likely hypothesis: 016_sphere with evidence 10.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.869411764705882)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -14.246965941134548)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.583884711779449)
current most likely hypothesis: 016_sphere with evidence 11.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.63406604747162)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.583884711779449)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.869411764705882)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -15.246965941134548)
current most likely hypothesis: 016_sphere with evidence 10.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.583884711779447)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.765351399642643)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -16.246965941134548)
current most likely hypothesis: 016_sphere with evidence 9.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.86941176470588)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.583884711779447)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -17.246965941134548)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.63406604747162)
current most likely hypothesis: 016_sphere with evidence 11.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.583884711779447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -18.246965941134548)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.86941176470588)
current most likely hypothesis: 016_sphere with evidence 10.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.583884711779447)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -19.246965941134548)
current most likely hypothesis: 016_sphere with evidence 11.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.86941176470588)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.583884711779447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -20.246965941134548)
current most likely hypothesis: 016_sphere with evidence 13.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.765351399642643)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.583884711779447)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -21.246965941134548)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.63406604747162)
current most likely hypothesis: 016_sphere with evidence 12.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.765351399642643)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.583884711779447)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -22.246965941134548)
current most likely hypothesis: 016_sphere with evidence 11.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.583884711779447)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -23.246965941134548)
current most likely hypothesis: 016_sphere with evidence 10.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.583884711779447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.63406604747162)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -24.246965941134548)
current most likely hypothesis: 016_sphere with evidence 11.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.583884711779447)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -25.246965941134548)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.63406604747162)
current most likely hypothesis: 016_sphere with evidence 13.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.583884711779447)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -26.246965941134548)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.63406604747162)
current most likely hypothesis: 016_sphere with evidence 14.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.583884711779447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.63406604747162)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -27.246965941134548)
current most likely hypothesis: 016_sphere with evidence 13.6
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -28.246965941134548)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.583884711779447)
current most likely hypothesis: 016_sphere with evidence 12.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.765351399642643)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -29.246965941134548)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.583884711779447)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.63406604747162)
current most likely hypothesis: 016_sphere with evidence 14.04
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.63406604747162)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.583884711779447)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -30.246965941134548)
current most likely hypothesis: 016_sphere with evidence 15.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.583884711779447)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.765351399642643)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -31.246965941134548)
current most likely hypothesis: 016_sphere with evidence 16.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -32.58388471177945)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -32.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -32.76535139964264)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -32.24696594113455)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -32.63406604747162)
current most likely hypothesis: 016_sphere with evidence 18.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -33.58388471177945)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -33.76535139964264)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -33.86941176470588)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -33.24696594113455)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -33.63406604747162)
current most likely hypothesis: 016_sphere with evidence 19.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -34.58388471177945)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -34.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -34.76535139964264)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -34.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -34.24696594113455)
current most likely hypothesis: 016_sphere with evidence 18.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -35.86941176470588)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -35.63406604747162)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -35.76535139964264)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -35.58388471177945)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -35.24696594113455)
current most likely hypothesis: 016_sphere with evidence 17.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -36.58388471177945)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -36.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -36.76535139964264)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -36.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -36.24696594113455)
current most likely hypothesis: 016_sphere with evidence 19.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -37.58388471177945)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -37.86941176470588)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -37.76535139964264)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -37.63406604747162)
Testing 4592 out of 4592 hypotheses for 016_sphere (evidence > -37.24696594113455)
current most likely hypothesis: 016_sphere with evidence 20.86
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
all possible locations are in radius 0.1 of [-0.01061147  1.50013091  0.04883663]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.011  1.5    0.049], rotation [325.016  45.007 359.995], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 43 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 72 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 642 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.160939226519337)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23255020050832503)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3324501292229599)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > 0.7195440427278228)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4368434655048407)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5631565344951592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.839060773480663)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7674497994916749)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6675498707770401)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -0.2804559572721772)
current most likely hypothesis: 016_sphere with evidence 3.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5631565344951592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.767449799491675)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -1.2804559572721772)
current most likely hypothesis: 016_sphere with evidence 5.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7674497994916747)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -2.280455957272177)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5631565344951595)
current most likely hypothesis: 001_cube with evidence 4.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7674497994916747)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.839060773480663)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5631565344951595)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -3.280455957272177)
current most likely hypothesis: 016_sphere with evidence 5.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.5631565344951595)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.8390607734806625)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.767449799491675)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -4.280455957272177)
current most likely hypothesis: 001_cube with evidence 6.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.5631565344951595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.767449799491675)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.8390607734806625)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -5.280455957272177)
current most likely hypothesis: 001_cube with evidence 7.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.8390607734806625)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.767449799491675)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.5631565344951595)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -6.280455957272177)
current most likely hypothesis: 001_cube with evidence 8.53
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.767449799491675)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.8390607734806625)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -7.280455957272177)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.5631565344951595)
current most likely hypothesis: 001_cube with evidence 7.53
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.56315653449516)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -8.280455957272178)
current most likely hypothesis: 016_sphere with evidence 8.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.839060773480663)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.56315653449516)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -9.280455957272178)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.66754987077704)
current most likely hypothesis: 016_sphere with evidence 9.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.56315653449516)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.839060773480663)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -10.280455957272178)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.66754987077704)
current most likely hypothesis: 016_sphere with evidence 8.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.839060773480663)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -11.280455957272178)
current most likely hypothesis: 016_sphere with evidence 10.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.66754987077704)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.56315653449516)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.839060773480663)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -12.280455957272178)
current most likely hypothesis: 016_sphere with evidence 9.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.56315653449516)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.66754987077704)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -13.280455957272178)
current most likely hypothesis: 016_sphere with evidence 10.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.66754987077704)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.56315653449516)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -14.280455957272178)
current most likely hypothesis: 016_sphere with evidence 12.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.839060773480663)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.56315653449516)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -15.280455957272178)
current most likely hypothesis: 016_sphere with evidence 11.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.56315653449516)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -16.280455957272178)
current most likely hypothesis: 016_sphere with evidence 12.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -17.280455957272178)
current most likely hypothesis: 016_sphere with evidence 11.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -18.280455957272178)
current most likely hypothesis: 016_sphere with evidence 10.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -19.280455957272178)
current most likely hypothesis: 016_sphere with evidence 9.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.83906077348066)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -20.280455957272178)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.66754987077704)
current most likely hypothesis: 016_sphere with evidence 10.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.56315653449516)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -21.280455957272178)
current most likely hypothesis: 016_sphere with evidence 10.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.83906077348066)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -22.280455957272178)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.767449799491676)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.56315653449516)
current most likely hypothesis: 016_sphere with evidence 11.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.66754987077704)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -23.280455957272178)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.56315653449516)
current most likely hypothesis: 016_sphere with evidence 10.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.83906077348066)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -24.280455957272178)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.56315653449516)
current most likely hypothesis: 016_sphere with evidence 9.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.56315653449516)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -25.280455957272178)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.66754987077704)
current most likely hypothesis: 016_sphere with evidence 8.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.66754987077704)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -26.280455957272178)
current most likely hypothesis: 016_sphere with evidence 7.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.767449799491676)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.56315653449516)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -27.280455957272178)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.66754987077704)
current most likely hypothesis: 016_sphere with evidence 6.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.767449799491676)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -28.280455957272178)
current most likely hypothesis: 016_sphere with evidence 5.5
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.56315653449516)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.66754987077704)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -29.280455957272178)
current most likely hypothesis: 016_sphere with evidence 4.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.56315653449516)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.66754987077704)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -30.280455957272178)
current most likely hypothesis: 016_sphere with evidence 3.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.56315653449516)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.767449799491676)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -31.280455957272178)
current most likely hypothesis: 016_sphere with evidence 2.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -32.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -32.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -32.563156534495164)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -32.28045595727218)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -32.76744979949167)
current most likely hypothesis: 016_sphere with evidence 3.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -33.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -33.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -33.76744979949167)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -33.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -33.28045595727218)
current most likely hypothesis: 016_sphere with evidence 5.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -34.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -34.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -34.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -34.76744979949167)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -34.28045595727218)
current most likely hypothesis: 016_sphere with evidence 4.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -35.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -35.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -35.76744979949167)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -35.28045595727218)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -35.66754987077704)
current most likely hypothesis: 016_sphere with evidence 5.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -36.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -36.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -36.563156534495164)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -36.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -36.28045595727218)
current most likely hypothesis: 016_sphere with evidence 7.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -37.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -37.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -37.563156534495164)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -37.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -37.28045595727218)
current most likely hypothesis: 016_sphere with evidence 8.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -38.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -38.76744979949167)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -38.563156534495164)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -38.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -38.28045595727218)
current most likely hypothesis: 016_sphere with evidence 10.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -39.83906077348066)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -39.563156534495164)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -39.76744979949167)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -39.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -39.28045595727218)
current most likely hypothesis: 016_sphere with evidence 11.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -40.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -40.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -40.76744979949167)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -40.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -40.28045595727218)
current most likely hypothesis: 016_sphere with evidence 13.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -41.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -41.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -41.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -41.28045595727218)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -41.76744979949167)
current most likely hypothesis: 016_sphere with evidence 14.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -42.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -42.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -42.76744979949167)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -42.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -42.28045595727218)
current most likely hypothesis: 016_sphere with evidence 16.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -43.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -43.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -43.76744979949167)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -43.28045595727218)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -43.66754987077704)
current most likely hypothesis: 016_sphere with evidence 15.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -44.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -44.76744979949167)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -44.563156534495164)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -44.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -44.28045595727218)
current most likely hypothesis: 016_sphere with evidence 14.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -45.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -45.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -45.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -45.28045595727218)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -45.76744979949167)
current most likely hypothesis: 016_sphere with evidence 13.23
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -46.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -46.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -46.76744979949167)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -46.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -46.28045595727218)
current most likely hypothesis: 016_sphere with evidence 14.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -47.563156534495164)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -47.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -47.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -47.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -47.28045595727218)
current most likely hypothesis: 016_sphere with evidence 16.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 58 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -48.66754987077704)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -48.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -48.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -48.76744979949167)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -48.28045595727218)
current most likely hypothesis: 016_sphere with evidence 15.21
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 59 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -49.66754987077704)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -49.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -49.76744979949167)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -49.563156534495164)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -49.28045595727218)
current most likely hypothesis: 016_sphere with evidence 14.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 60 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -50.563156534495164)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -50.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -50.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -50.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -50.28045595727218)
current most likely hypothesis: 016_sphere with evidence 15.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 61 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -51.563156534495164)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -51.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -51.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -51.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -51.28045595727218)
current most likely hypothesis: 016_sphere with evidence 17.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 62 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 63 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -52.563156534495164)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -52.76744979949167)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -52.83906077348066)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -52.66754987077704)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -52.28045595727218)
current most likely hypothesis: 016_sphere with evidence 18.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 64 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -53.563156534495164)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -53.83906077348066)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -53.76744979949167)
Testing 5136 out of 5136 hypotheses for 016_sphere (evidence > -53.28045595727218)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -53.66754987077704)
current most likely hypothesis: 016_sphere with evidence 20.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 65 ---
all possible locations are in radius 0.1 of [-0.01768376  1.53226643  0.0338329 ]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.018  1.532  0.034], rotation [3.4983e+01 4.5007e+01 4.0000e-03], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 65 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 711 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.14080123419926344)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.35138120399340483)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23751024740393775)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.3958172268663528)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > 0.7361691458181283)
current most likely hypothesis: 016_sphere with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6486187960065952)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.6041827731336472)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7624897525960622)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -0.2638308541818717)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8591987658007365)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.604182773133647)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6486187960065952)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8591987658007365)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7624897525960623)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -1.2638308541818717)
current most likely hypothesis: 016_sphere with evidence 5.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.604182773133647)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7624897525960623)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8591987658007367)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -2.2638308541818715)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.648618796006595)
current most likely hypothesis: 016_sphere with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8591987658007367)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7624897525960623)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -3.2638308541818715)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.604182773133647)
current most likely hypothesis: 016_sphere with evidence 8.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.6041827731336475)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.859198765800737)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.762489752596062)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -4.2638308541818715)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.648618796006595)
current most likely hypothesis: 016_sphere with evidence 9.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.6041827731336475)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.762489752596062)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.859198765800737)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -5.2638308541818715)
current most likely hypothesis: 016_sphere with evidence 11.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.6041827731336475)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.859198765800737)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.762489752596062)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -6.2638308541818715)
current most likely hypothesis: 016_sphere with evidence 10.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.762489752596062)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -7.2638308541818715)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.859198765800737)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.6041827731336475)
current most likely hypothesis: 016_sphere with evidence 11.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.648618796006595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.762489752596062)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -8.263830854181872)
current most likely hypothesis: 016_sphere with evidence 13.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.762489752596062)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -9.263830854181872)
current most likely hypothesis: 016_sphere with evidence 14.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.604182773133648)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.762489752596062)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.859198765800738)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -10.263830854181872)
current most likely hypothesis: 016_sphere with evidence 13.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.648618796006595)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.604182773133648)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.762489752596062)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -11.263830854181872)
current most likely hypothesis: 016_sphere with evidence 15.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.762489752596062)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.859198765800738)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -12.263830854181872)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.648618796006595)
current most likely hypothesis: 016_sphere with evidence 16.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.762489752596062)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.859198765800738)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -13.263830854181872)
current most likely hypothesis: 016_sphere with evidence 17.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.762489752596062)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.604182773133648)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -14.263830854181872)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.648618796006595)
current most likely hypothesis: 016_sphere with evidence 16.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.762489752596062)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -15.263830854181872)
current most likely hypothesis: 016_sphere with evidence 15.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.859198765800738)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.648618796006595)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.604182773133648)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -16.263830854181872)
current most likely hypothesis: 016_sphere with evidence 14.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.648618796006595)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.76248975259606)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -17.263830854181872)
current most likely hypothesis: 016_sphere with evidence 13.95
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.604182773133648)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.859198765800738)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -18.263830854181872)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.648618796006595)
current most likely hypothesis: 016_sphere with evidence 12.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -19.263830854181872)
current most likely hypothesis: 016_sphere with evidence 11.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.859198765800738)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -20.263830854181872)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.648618796006595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.76248975259606)
current most likely hypothesis: 016_sphere with evidence 10.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.859198765800738)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.648618796006595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.76248975259606)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -21.263830854181872)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.604182773133648)
current most likely hypothesis: 016_sphere with evidence 9.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.648618796006595)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.859198765800738)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -22.263830854181872)
current most likely hypothesis: 016_sphere with evidence 11.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -23.263830854181872)
current most likely hypothesis: 016_sphere with evidence 12.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.604182773133648)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -24.263830854181872)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.648618796006595)
current most likely hypothesis: 016_sphere with evidence 14.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.76248975259606)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -25.263830854181872)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.648618796006595)
current most likely hypothesis: 016_sphere with evidence 15.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -26.263830854181872)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.604182773133648)
current most likely hypothesis: 016_sphere with evidence 14.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.859198765800738)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.648618796006595)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.604182773133648)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.76248975259606)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -27.263830854181872)
current most likely hypothesis: 016_sphere with evidence 16.24
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -28.263830854181872)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.859198765800738)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.604182773133648)
current most likely hypothesis: 016_sphere with evidence 15.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.76248975259606)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.604182773133648)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -29.263830854181872)
current most likely hypothesis: 016_sphere with evidence 14.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -30.263830854181872)
current most likely hypothesis: 016_sphere with evidence 13.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.604182773133648)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.859198765800738)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -31.263830854181872)
current most likely hypothesis: 016_sphere with evidence 12.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -32.604182773133644)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -32.85919876580074)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -32.76248975259606)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -32.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -32.263830854181876)
current most likely hypothesis: 016_sphere with evidence 11.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -33.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -33.85919876580074)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -33.648618796006595)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -33.604182773133644)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -33.263830854181876)
current most likely hypothesis: 016_sphere with evidence 12.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -34.604182773133644)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -34.85919876580074)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -34.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -34.263830854181876)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -34.76248975259606)
current most likely hypothesis: 016_sphere with evidence 14.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -35.85919876580074)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -35.76248975259606)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -35.604182773133644)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -35.648618796006595)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -35.263830854181876)
current most likely hypothesis: 016_sphere with evidence 15.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -36.604182773133644)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -36.85919876580074)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -36.76248975259606)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -36.263830854181876)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -36.648618796006595)
current most likely hypothesis: 016_sphere with evidence 17.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -37.604182773133644)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -37.648618796006595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -37.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -37.85919876580074)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -37.263830854181876)
current most likely hypothesis: 016_sphere with evidence 18.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -38.648618796006595)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -38.76248975259606)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -38.85919876580074)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -38.604182773133644)
Testing 5688 out of 5688 hypotheses for 016_sphere (evidence > -38.263830854181876)
current most likely hypothesis: 016_sphere with evidence 20.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
all possible locations are in radius 0.1 of [-0.03798567  1.53151751  0.00784347]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.038  1.532  0.008], rotation [ 34.983  45.006 359.969], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 44 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 69 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 777 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.13509803921568628)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.223921568627451)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4224214130096482)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.33686274509803915)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > 0.7234223886239561)
current most likely hypothesis: 016_sphere with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7760784313725491)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8649019607843137)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5775785869903518)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6631372549019608)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -0.27657761137604386)
current most likely hypothesis: 016_sphere with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.776078431372549)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8649019607843136)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6631372549019607)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5775785869903518)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -1.2765776113760439)
current most likely hypothesis: 016_sphere with evidence 5.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8649019607843136)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7760784313725493)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6631372549019607)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.577578586990352)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -2.2765776113760436)
current most likely hypothesis: 016_sphere with evidence 6.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8649019607843136)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7760784313725493)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -3.2765776113760436)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6631372549019607)
current most likely hypothesis: 016_sphere with evidence 5.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.663137254901961)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.776078431372549)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -4.276577611376044)
current most likely hypothesis: 016_sphere with evidence 7.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.864901960784314)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.776078431372549)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -5.276577611376044)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.663137254901961)
current most likely hypothesis: 016_sphere with evidence 6.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.776078431372549)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -6.276577611376044)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.663137254901961)
current most likely hypothesis: 016_sphere with evidence 7.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.663137254901961)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.864901960784314)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.776078431372549)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -7.276577611376044)
current most likely hypothesis: 016_sphere with evidence 9.19
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.663137254901962)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -8.276577611376045)
current most likely hypothesis: 016_sphere with evidence 10.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.663137254901962)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -9.276577611376045)
current most likely hypothesis: 016_sphere with evidence 9.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.577578586990352)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -10.276577611376045)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.663137254901962)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.77607843137255)
current most likely hypothesis: 016_sphere with evidence 8.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.663137254901962)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -11.276577611376045)
current most likely hypothesis: 016_sphere with evidence 10.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.864901960784314)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.77607843137255)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.577578586990352)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -12.276577611376045)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.663137254901962)
current most likely hypothesis: 016_sphere with evidence 9.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.663137254901962)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.864901960784314)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -13.276577611376045)
current most likely hypothesis: 016_sphere with evidence 8.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.864901960784314)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.663137254901962)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -14.276577611376045)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.77607843137255)
current most likely hypothesis: 016_sphere with evidence 9.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.77607843137255)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.663137254901962)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.864901960784314)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -15.276577611376045)
current most likely hypothesis: 016_sphere with evidence 10.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.77607843137255)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.864901960784316)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -16.276577611376045)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.66313725490196)
current most likely hypothesis: 016_sphere with evidence 12.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.77607843137255)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.66313725490196)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -17.276577611376045)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.864901960784316)
current most likely hypothesis: 016_sphere with evidence 13.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.77607843137255)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.864901960784316)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.66313725490196)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -18.276577611376045)
current most likely hypothesis: 016_sphere with evidence 15.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.77607843137255)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.864901960784316)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.66313725490196)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -19.276577611376045)
current most likely hypothesis: 016_sphere with evidence 16.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.66313725490196)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.864901960784316)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -20.276577611376045)
current most likely hypothesis: 016_sphere with evidence 18.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.577578586990352)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.66313725490196)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.864901960784316)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.77607843137255)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -21.276577611376045)
current most likely hypothesis: 016_sphere with evidence 17.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.577578586990352)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.77607843137255)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.66313725490196)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.864901960784316)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -22.276577611376045)
current most likely hypothesis: 016_sphere with evidence 18.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.577578586990352)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.864901960784316)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.77607843137255)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.66313725490196)
Testing 6216 out of 6216 hypotheses for 016_sphere (evidence > -23.276577611376045)
current most likely hypothesis: 016_sphere with evidence 20.15
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
all possible locations are in radius 0.1 of [-0.01510339  1.54647504 -0.0105451 ]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.015  1.546 -0.011], rotation [9.0012e+01 7.0000e-03 2.6120e+00], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 33 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 70 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 842 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.35858683236407957)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4234624083848512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.13877077734647156)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.23547979055114593)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > 0.7450957304431681)
current most likely hypothesis: 016_sphere with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5765375916151487)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8612292226535284)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7645202094488541)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6414131676359205)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -0.2549042695568319)
current most likely hypothesis: 016_sphere with evidence 3.9
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7645202094488541)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.8612292226535283)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6414131676359205)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -1.2549042695568318)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5765375916151487)
current most likely hypothesis: 016_sphere with evidence 5.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8612292226535283)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6414131676359203)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.576537591615149)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -2.2549042695568318)
current most likely hypothesis: 016_sphere with evidence 6.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.576537591615149)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8612292226535283)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6414131676359203)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -3.2549042695568318)
current most likely hypothesis: 016_sphere with evidence 7.79
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.861229222653528)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -4.254904269556832)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.64141316763592)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.576537591615149)
current most likely hypothesis: 016_sphere with evidence 6.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.861229222653528)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.764520209448854)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.576537591615149)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -5.254904269556832)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.64141316763592)
current most likely hypothesis: 016_sphere with evidence 8.17
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.576537591615149)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.861229222653528)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.64141316763592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -6.254904269556832)
current most likely hypothesis: 016_sphere with evidence 7.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.861229222653528)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.764520209448854)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.576537591615149)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -7.254904269556832)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.64141316763592)
current most likely hypothesis: 016_sphere with evidence 6.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.641413167635921)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -8.254904269556832)
current most likely hypothesis: 016_sphere with evidence 7.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.641413167635921)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -9.254904269556832)
current most likely hypothesis: 016_sphere with evidence 7.15
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.641413167635921)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.57653759161515)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.764520209448854)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.861229222653527)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -10.254904269556832)
current most likely hypothesis: 016_sphere with evidence 8.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.641413167635921)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -11.254904269556832)
current most likely hypothesis: 016_sphere with evidence 10.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.641413167635921)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -12.254904269556832)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.57653759161515)
current most likely hypothesis: 016_sphere with evidence 11.55
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.641413167635921)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -13.254904269556832)
current most likely hypothesis: 016_sphere with evidence 13.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.641413167635921)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -14.254904269556832)
current most likely hypothesis: 016_sphere with evidence 14.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -15.254904269556832)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.641413167635921)
current most likely hypothesis: 016_sphere with evidence 15.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.64141316763592)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -16.25490426955683)
current most likely hypothesis: 016_sphere with evidence 17.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.861229222653527)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.64141316763592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -17.25490426955683)
current most likely hypothesis: 016_sphere with evidence 16.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.57653759161515)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.764520209448854)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.861229222653527)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -18.25490426955683)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.64141316763592)
current most likely hypothesis: 016_sphere with evidence 15.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.57653759161515)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.64141316763592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -19.25490426955683)
current most likely hypothesis: 016_sphere with evidence 14.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.57653759161515)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.64141316763592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.764520209448854)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.861229222653527)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -20.25490426955683)
current most likely hypothesis: 016_sphere with evidence 13.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.57653759161515)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.64141316763592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -21.25490426955683)
current most likely hypothesis: 016_sphere with evidence 14.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.64141316763592)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -22.25490426955683)
current most likely hypothesis: 016_sphere with evidence 16.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.64141316763592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.764520209448854)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.57653759161515)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -23.25490426955683)
current most likely hypothesis: 016_sphere with evidence 17.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.64141316763592)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -24.25490426955683)
current most likely hypothesis: 016_sphere with evidence 19.32
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.64141316763592)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -25.25490426955683)
current most likely hypothesis: 016_sphere with evidence 18.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.64141316763592)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -26.25490426955683)
current most likely hypothesis: 016_sphere with evidence 19.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.64141316763592)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -27.25490426955683)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.57653759161515)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.861229222653527)
current most likely hypothesis: 016_sphere with evidence 18.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.861229222653527)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.764520209448854)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.64141316763592)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.57653759161515)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -28.25490426955683)
current most likely hypothesis: 016_sphere with evidence 17.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.64141316763592)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.861229222653527)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.57653759161515)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.764520209448854)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -29.25490426955683)
current most likely hypothesis: 016_sphere with evidence 19.16
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.57653759161515)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.764520209448854)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.861229222653527)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.64141316763592)
Testing 6736 out of 6736 hypotheses for 016_sphere (evidence > -30.25490426955683)
current most likely hypothesis: 016_sphere with evidence 20.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
all possible locations are in radius 0.1 of [0.04090281 1.49882746 0.02868966]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [0.041 1.499 0.029], rotation [3.49840e+01 3.14993e+02 1.70000e-02], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 34 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 69 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 909 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': '016_sphere',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 016_sphere
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 016_sphere with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.1639708620878519)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.2279899222258736)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4199508138622215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3079899222258736)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > 0.6945099600941348)
current most likely hypothesis: 016_sphere with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.7720100777741263)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.8360291379121481)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5800491861377786)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6920100777741264)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -0.3054900399058652)
current most likely hypothesis: 016_sphere with evidence 3.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5800491861377786)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.7720100777741263)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.836029137912148)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -1.305490039905865)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6920100777741265)
current most likely hypothesis: 016_sphere with evidence 5.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.8360291379121483)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.7720100777741266)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.580049186137779)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6920100777741265)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -2.305490039905865)
current most likely hypothesis: 016_sphere with evidence 6.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.580049186137779)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.8360291379121483)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.7720100777741266)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6920100777741265)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -3.305490039905865)
current most likely hypothesis: 016_sphere with evidence 7.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.580049186137779)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.836029137912148)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.6920100777741265)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -4.305490039905865)
current most likely hypothesis: 016_sphere with evidence 9.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.6920100777741265)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.580049186137779)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.836029137912148)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -5.305490039905865)
current most likely hypothesis: 016_sphere with evidence 8.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.836029137912148)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.6920100777741265)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.580049186137779)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -6.305490039905865)
current most likely hypothesis: 016_sphere with evidence 9.57
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.836029137912148)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -7.305490039905865)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.580049186137779)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.6920100777741265)
current most likely hypothesis: 016_sphere with evidence 10.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.692010077774126)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -8.305490039905866)
current most likely hypothesis: 016_sphere with evidence 9.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.692010077774126)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.580049186137778)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -9.305490039905866)
current most likely hypothesis: 016_sphere with evidence 8.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -10.305490039905866)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.692010077774126)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.580049186137778)
current most likely hypothesis: 016_sphere with evidence 7.97
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.692010077774126)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -11.305490039905866)
current most likely hypothesis: 016_sphere with evidence 6.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.692010077774126)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -12.305490039905866)
current most likely hypothesis: 016_sphere with evidence 6.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.692010077774126)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.580049186137778)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -13.305490039905866)
current most likely hypothesis: 016_sphere with evidence 5.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.692010077774126)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -14.305490039905866)
current most likely hypothesis: 016_sphere with evidence 4.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.692010077774126)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -15.304930135346211)
current most likely hypothesis: 016_sphere with evidence 3.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -16.30493013534621)
current most likely hypothesis: 016_sphere with evidence 4.83
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -17.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.69201007777413)
current most likely hypothesis: 016_sphere with evidence 6.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.772010077774127)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.580049186137778)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -18.30493013534621)
current most likely hypothesis: 016_sphere with evidence 7.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -19.30493013534621)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.83602913791215)
current most likely hypothesis: 016_sphere with evidence 6.68
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.772010077774127)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.580049186137778)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -20.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.69201007777413)
current most likely hypothesis: 016_sphere with evidence 5.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.69201007777413)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -21.30493013534621)
current most likely hypothesis: 016_sphere with evidence 4.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -22.30493013534621)
current most likely hypothesis: 016_sphere with evidence 6.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.772010077774127)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.580049186137778)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -23.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.69201007777413)
current most likely hypothesis: 016_sphere with evidence 7.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -24.30493013534621)
current most likely hypothesis: 016_sphere with evidence 9.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -25.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -25.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -25.69201007777413)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -25.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -25.30493013534621)
current most likely hypothesis: 016_sphere with evidence 10.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -26.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -26.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -26.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -26.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -26.69201007777413)
current most likely hypothesis: 016_sphere with evidence 9.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -27.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -27.772010077774127)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -27.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -27.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -27.30493013534621)
current most likely hypothesis: 016_sphere with evidence 8.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -28.69201007777413)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -28.83602913791215)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -28.580049186137778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -28.772010077774127)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -28.30493013534621)
current most likely hypothesis: 016_sphere with evidence 10.09
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -29.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -29.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -29.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -29.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -29.30493013534621)
current most likely hypothesis: 016_sphere with evidence 11.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -30.580049186137778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -30.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -30.772010077774127)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -30.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -30.30493013534621)
current most likely hypothesis: 016_sphere with evidence 12.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -31.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -31.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -31.30493013534621)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -31.772010077774127)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -31.580049186137778)
current most likely hypothesis: 016_sphere with evidence 11.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -32.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -32.69201007777413)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -32.58004918613778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -32.77201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -32.30493013534621)
current most likely hypothesis: 016_sphere with evidence 13.43
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -33.58004918613778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -33.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -33.77201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -33.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -33.69201007777413)
current most likely hypothesis: 016_sphere with evidence 14.88
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -34.58004918613778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -34.77201007777413)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -34.83602913791215)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -34.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -34.30493013534621)
current most likely hypothesis: 016_sphere with evidence 16.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -35.58004918613778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -35.77201007777413)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -35.83602913791215)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -35.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -35.69201007777413)
current most likely hypothesis: 016_sphere with evidence 17.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -36.83602913791215)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -36.58004918613778)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -36.77201007777413)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -36.69201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -36.30493013534621)
current most likely hypothesis: 016_sphere with evidence 19.2
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -37.58004918613778)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -37.83602913791215)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -37.77201007777413)
Testing 7272 out of 7272 hypotheses for 016_sphere (evidence > -37.30493013534621)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -37.69201007777413)
current most likely hypothesis: 016_sphere with evidence 20.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['016_sphere']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
all possible locations are in radius 0.1 of [-0.01064888  1.54592423  0.01661776]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 016_sphere at location [-0.011  1.546  0.017], rotation [3.5e+01 4.5e+01 7.0e-03], and scale 1.0
learning_module_0 recognized object 016_sphere
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 46 steps

---Updating memory of learning_module_0---
016_sphere already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '016_sphere'])
Updating existing graph for 016_sphere
adding 72 observations
Extended graph 016_sphere with new points. New model:
{'patch_0': Model for 016_sphere:
   Contains 978 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '016_sphere',
 '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_curved_objects_after_flat_and_logo/supervised_pre_training_curved_objects_after_flat_and_logo-parallel_train_episode_016_sphere/pretrained
logger initialized
loading models
loading 001_cube with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 001_cube:
   Contains 1614 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 006_disk with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 006_disk:
   Contains 1047 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 021_logo_tbp with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 021_logo_tbp:
   Contains 148 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading 022_logo_numenta with features from dict_keys(['patch_0'])
Loaded {'patch_0': Model for 022_logo_numenta:
   Contains 103 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
} for patch_0
loading models
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.96
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.43132767222126134)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.34157829665608075)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.36347765502139967)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.43486836673581963)
current most likely hypothesis: 001_cube with evidence 2.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5686723277787387)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6584217033439193)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5651316332641804)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6365223449786004)
current most likely hypothesis: 001_cube with evidence 3.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5686723277787387)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5651316332641803)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6584217033439193)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6365223449786004)
current most likely hypothesis: 001_cube with evidence 2.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5686723277787387)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6584217033439193)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6365223449786006)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.5651316332641803)
current most likely hypothesis: 001_cube with evidence 3.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5494770440996284)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.5651316332641803)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6583587038041747)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6365223449786006)
current most likely hypothesis: 001_cube with evidence 4.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.658358703804175)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.636522344978601)
current most likely hypothesis: 001_cube with evidence 3.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.658358703804175)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.636522344978601)
current most likely hypothesis: 001_cube with evidence 2.61
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.658358703804175)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.636522344978601)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.56513163326418)
current most likely hypothesis: 001_cube with evidence 3.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.658358703804175)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.636522344978601)
current most likely hypothesis: 001_cube with evidence 2.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.658358703804176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.636522344978601)
current most likely hypothesis: 001_cube with evidence 1.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.658358703804176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.636522344978601)
current most likely hypothesis: 001_cube with evidence 0.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.658358703804176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.56513163326418)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.549477044099628)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.636522344978601)
current most likely hypothesis: 001_cube with evidence 2.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.549477044099628)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.56513163326418)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.658358703804176)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.636522344978601)
current most likely hypothesis: 001_cube with evidence 1.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.549477044099628)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.658358703804176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.56513163326418)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.636522344978601)
current most likely hypothesis: 001_cube with evidence 0.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.549477044099628)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.56513163326418)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.658358703804176)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.636522344978601)
current most likely hypothesis: 001_cube with evidence -0.89
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
023_mug not in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta'])
Adding a new graph to memory.
init object model with id 023_mug
building graph from 97 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7f84dd952c10>
Added new graph with id 023_mug to memory.
Model for 023_mug:
   Contains 97 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,


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


Going from 0 to 1 of 14
New primary target: {'euler_rotation': array([ 0, 90,  0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3434118768940682)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.36165912518853677)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.4335646920718462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > 0.3718552036199097)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4326463972903601)
current most likely hypothesis: 023_mug with evidence 2.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6565881231059318)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6383408748114632)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5664353079281538)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -0.6281447963800904)
current most likely hypothesis: 023_mug with evidence 4.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6565881231059318)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -1.6281447963800904)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5664353079281539)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6383408748114632)
current most likely hypothesis: 023_mug with evidence 6.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.656588123105932)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.566435307928154)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.638340874811463)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -2.6281447963800906)
current most likely hypothesis: 023_mug with evidence 5.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.656588123105932)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.566435307928154)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.638340874811463)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -3.6281447963800906)
current most likely hypothesis: 023_mug with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.56735360270964)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.638340874811464)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.656588123105932)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.566435307928154)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -4.628144796380091)
current most likely hypothesis: 023_mug with evidence 6.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.656588123105932)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.566435307928154)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.638340874811464)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -5.628144796380091)
current most likely hypothesis: 023_mug with evidence 8.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.656588123105932)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.638340874811464)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.566435307928154)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.56735360270964)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -6.628144796380091)
current most likely hypothesis: 023_mug with evidence 10.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.56735360270964)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.638340874811464)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.656588123105932)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -7.628144796380091)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.566435307928154)
current most likely hypothesis: 023_mug with evidence 12.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.567353602709641)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.638340874811464)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.566435307928154)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -8.628144796380091)
current most likely hypothesis: 023_mug with evidence 11.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.567353602709641)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.638340874811464)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -9.628144796380091)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.566435307928154)
current most likely hypothesis: 023_mug with evidence 10.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.567353602709641)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.638340874811464)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.566435307928154)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -10.628144796380091)
current most likely hypothesis: 023_mug with evidence 9.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.567353602709641)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.566435307928154)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -11.628144796380091)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.638340874811464)
current most likely hypothesis: 023_mug with evidence 8.66
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.567353602709641)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.638340874811464)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -12.628144796380091)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.566435307928154)
current most likely hypothesis: 023_mug with evidence 10.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.567353602709641)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.566435307928154)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.638340874811464)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -13.628144796380091)
current most likely hypothesis: 023_mug with evidence 12.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.567353602709641)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.638340874811464)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.566435307928154)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -14.628144796380091)
current most likely hypothesis: 023_mug with evidence 14.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.567353602709641)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.566435307928154)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -15.628144796380091)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.638340874811464)
current most likely hypothesis: 023_mug with evidence 13.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -16.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.638340874811462)
current most likely hypothesis: 023_mug with evidence 15.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -17.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.638340874811462)
current most likely hypothesis: 023_mug with evidence 14.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.566435307928153)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.638340874811462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -18.62814479638009)
current most likely hypothesis: 023_mug with evidence 16.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.566435307928153)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.638340874811462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -19.62814479638009)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.656525123566187)
current most likely hypothesis: 023_mug with evidence 15.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -20.62814479638009)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.566435307928153)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.638340874811462)
current most likely hypothesis: 023_mug with evidence 14.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -21.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.638340874811462)
current most likely hypothesis: 023_mug with evidence 13.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.638340874811462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -22.62814479638009)
current most likely hypothesis: 023_mug with evidence 12.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -23.62814479638009)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.638340874811462)
current most likely hypothesis: 023_mug with evidence 11.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -24.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -24.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -24.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -24.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -24.638340874811462)
current most likely hypothesis: 023_mug with evidence 10.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -25.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -25.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -25.656525123566187)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -25.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -25.638340874811462)
current most likely hypothesis: 023_mug with evidence 9.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -26.656525123566187)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -26.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -26.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -26.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -26.638340874811462)
current most likely hypothesis: 023_mug with evidence 8.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 29 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -27.56735360270964)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -27.566435307928153)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -27.656525123566187)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -27.638340874811462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -27.62814479638009)
current most likely hypothesis: 023_mug with evidence 7.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 30 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -28.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -28.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -28.62814479638009)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -28.56735360270964)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -28.638340874811462)
current most likely hypothesis: 023_mug with evidence 9.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 31 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -29.56735360270964)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -29.638340874811462)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -29.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -29.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -29.62814479638009)
current most likely hypothesis: 023_mug with evidence 11.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 32 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -30.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -30.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -30.566435307928153)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -30.638340874811462)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -30.62814479638009)
current most likely hypothesis: 023_mug with evidence 13.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 33 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -31.638340874811462)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -31.56735360270964)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -31.656525123566187)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -31.566435307928153)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -31.62814479638009)
current most likely hypothesis: 023_mug with evidence 15.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 34 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -32.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -32.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -32.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -32.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -32.62814479638009)
current most likely hypothesis: 023_mug with evidence 17.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 35 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 36 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -33.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -33.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -33.56643530792815)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -33.567353602709645)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -33.62814479638009)
current most likely hypothesis: 023_mug with evidence 16.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 37 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -34.56643530792815)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -34.65652512356618)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -34.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -34.63834087481146)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -34.567353602709645)
current most likely hypothesis: 023_mug with evidence 15.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 38 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -35.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -35.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -35.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -35.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -35.62814479638009)
current most likely hypothesis: 023_mug with evidence 14.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 39 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 40 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -36.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -36.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -36.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -36.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -36.62814479638009)
current most likely hypothesis: 023_mug with evidence 13.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 41 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -37.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -37.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -37.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -37.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -37.62814479638009)
current most likely hypothesis: 023_mug with evidence 12.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 42 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -38.567353602709645)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -38.56643530792815)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -38.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -38.63834087481146)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -38.62814479638009)
current most likely hypothesis: 023_mug with evidence 11.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 43 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -39.63834087481146)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -39.65652512356618)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -39.567353602709645)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -39.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -39.62814479638009)
current most likely hypothesis: 023_mug with evidence 10.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 44 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -40.567353602709645)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -40.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -40.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -40.56643530792815)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -40.65652512356618)
current most likely hypothesis: 023_mug with evidence 9.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 45 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 46 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -41.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -41.65652512356618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -41.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -41.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -41.63834087481146)
current most likely hypothesis: 023_mug with evidence 8.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 47 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -42.567353602709645)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -42.63834087481146)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -42.65652512356618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -42.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -42.62814479638009)
current most likely hypothesis: 023_mug with evidence 7.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 48 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -43.65652512356618)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -43.567353602709645)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -43.56643530792815)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -43.63834087481146)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -43.62814479638009)
current most likely hypothesis: 023_mug with evidence 6.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 49 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -44.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -44.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -44.63834087481146)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -44.65652512356618)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -44.567353602709645)
current most likely hypothesis: 023_mug with evidence 5.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 50 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -45.567353602709645)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -45.63834087481146)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -45.65652512356618)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -45.62814479638009)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -45.56643530792815)
current most likely hypothesis: 023_mug with evidence 4.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 51 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -46.567353602709645)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -46.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -46.56643530792815)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -46.65652512356618)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -46.62814479638009)
current most likely hypothesis: 023_mug with evidence 3.36
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 52 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -47.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -47.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -47.63834087481146)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -47.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -47.62814479638009)
current most likely hypothesis: 023_mug with evidence 2.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 53 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -48.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -48.65652512356618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -48.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -48.62814479638009)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -48.63834087481146)
current most likely hypothesis: 023_mug with evidence 1.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 54 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -49.65652512356618)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -49.63834087481146)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -49.567353602709645)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -49.62814479638009)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -49.56643530792815)
current most likely hypothesis: 023_mug with evidence 0.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 55 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 56 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -50.63834087481146)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -50.567353602709645)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -50.65652512356618)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -50.56643530792815)
Testing 194 out of 194 hypotheses for 023_mug (evidence > -50.62814479638009)
current most likely hypothesis: 023_mug with evidence -0.64
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 57 ---
Going into exploratory mode after 57 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 85 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 182 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 1 to 2 of 14
New primary target: {'euler_rotation': array([  0, 180,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.44312135985670686)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3571104888625234)
Testing 364 out of 364 hypotheses for 023_mug (evidence > 0.3493889897156683)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.4143221275697133)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.35673677093341893)
current most likely hypothesis: 023_mug with evidence 2.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6432632290665811)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6428895111374766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5856778724302867)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5568786401432931)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -0.6506110102843317)
current most likely hypothesis: 023_mug with evidence 4.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5568786401432932)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6428895111374766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5856778724302867)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -1.6506110102843317)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.643263229066581)
current most likely hypothesis: 023_mug with evidence 6.8
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5568786401432932)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.643263229066581)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.5856778724302867)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6428895111374766)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -2.6506110102843317)
current most likely hypothesis: 023_mug with evidence 8.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5568786401432932)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6428895111374766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.5856778724302867)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.643263229066581)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -3.6506110102843317)
current most likely hypothesis: 023_mug with evidence 7.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.556878640143293)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.585677872430287)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.642826511597732)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.643263229066581)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -4.650611010284331)
current most likely hypothesis: 023_mug with evidence 6.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.643263229066581)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.556878640143293)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.642826511597732)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.585677872430287)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -5.650611010284331)
current most likely hypothesis: 023_mug with evidence 5.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.642826511597732)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -6.650611010284331)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.585677872430287)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.556878640143293)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.643263229066581)
current most likely hypothesis: 023_mug with evidence 7.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.642826511597732)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.556878640143293)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.585677872430287)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -7.650611010284331)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.643263229066581)
current most likely hypothesis: 023_mug with evidence 9.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.556878640143292)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.585677872430287)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.642826511597733)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.64326322906658)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -8.650611010284331)
current most likely hypothesis: 023_mug with evidence 11.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.642826511597733)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.585677872430287)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.556878640143292)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.64326322906658)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -9.650611010284331)
current most likely hypothesis: 023_mug with evidence 13.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.556878640143292)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.642826511597733)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.585677872430287)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -10.650611010284331)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.64326322906658)
current most likely hypothesis: 023_mug with evidence 14.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.556878640143292)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.642826511597733)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.585677872430287)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.64326322906658)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -11.650611010284331)
current most likely hypothesis: 023_mug with evidence 16.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.585677872430287)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.642826511597733)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.64326322906658)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -12.650611010284331)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.556878640143292)
current most likely hypothesis: 023_mug with evidence 18.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.556878640143292)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.585677872430287)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.642826511597733)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -13.650611010284331)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.64326322906658)
current most likely hypothesis: 023_mug with evidence 17.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.556878640143292)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.642826511597733)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.585677872430287)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.64326322906658)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -14.650611010284331)
current most likely hypothesis: 023_mug with evidence 19.34
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.556878640143292)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.64326322906658)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.642826511597733)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.585677872430287)
Testing 364 out of 364 hypotheses for 023_mug (evidence > -15.650611010284331)
current most likely hypothesis: 023_mug with evidence 21.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.01342729  1.51392528  0.04949588]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [-0.013  1.514  0.049], rotation [  0.    359.785 180.   ], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 18 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 98 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 275 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 2 to 3 of 14
New primary target: {'euler_rotation': array([  0, 270,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.78
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.1453308823529412)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.23419675830271353)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.40808628819226767)
Testing 550 out of 550 hypotheses for 023_mug (evidence > 0.4954569110252797)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4293323822664076)
current most likely hypothesis: 006_disk with evidence 1.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5706676177335924)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.7658032416972864)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.8546691176470588)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.5919137118077323)
Testing 550 out of 550 hypotheses for 023_mug (evidence > -0.5045430889747202)
current most likely hypothesis: 006_disk with evidence 1.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.8546691176470587)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.7658032416972864)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.5919137118077322)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5706676177335925)
Testing 550 out of 550 hypotheses for 023_mug (evidence > -1.5045430889747202)
current most likely hypothesis: 006_disk with evidence 2.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5706676177335925)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.5919137118077322)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.8546691176470587)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.765803241697286)
Testing 550 out of 550 hypotheses for 023_mug (evidence > -2.50454308897472)
current most likely hypothesis: 006_disk with evidence 1.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.765803241697286)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.8546691176470587)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.5919137118077322)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5706676177335925)
Testing 550 out of 550 hypotheses for 023_mug (evidence > -3.50454308897472)
current most likely hypothesis: 006_disk with evidence 0.18
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.854669117647059)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.765803241697286)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.5706676177335925)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.591913711807733)
Testing 550 out of 550 hypotheses for 023_mug (evidence > -4.50454308897472)
current most likely hypothesis: 006_disk with evidence -0.82
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Going into exploratory mode after 7 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 72 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 347 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 3 to 4 of 14
New primary target: {'euler_rotation': array([90,  0,  0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.42444290188495265)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.5431390111327873)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.5930813630108805)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.3316049245887709)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > 0.39926980872424345)
current most likely hypothesis: 006_disk with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.4568609888672127)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.40691863698911945)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5755570981150473)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6683950754112291)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -0.6007301912757566)
current most likely hypothesis: 006_disk with evidence 3.94
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5755570981150473)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.4568609888672128)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.4069186369891193)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6683950754112291)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -1.6007301912757566)
current most likely hypothesis: 001_cube with evidence 5.38
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.4069186369891193)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.456860988867213)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.5755570981150475)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.668395075411229)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -2.6007301912757566)
current most likely hypothesis: 006_disk with evidence 6.3
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.4069186369891193)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -3.6007301912757566)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.5755570981150475)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.668395075411229)
current most likely hypothesis: 006_disk with evidence 7.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.5755570981150475)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.456860988867213)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.6683950754112296)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -4.6007301912757566)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.406918636989119)
current most likely hypothesis: 006_disk with evidence 6.7
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.406918636989119)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.456860988867213)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.5755570981150475)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -5.6007301912757566)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.6683950754112296)
current most likely hypothesis: 006_disk with evidence 5.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.5755570981150475)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.6683950754112296)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.406918636989119)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -6.6007301912757566)
current most likely hypothesis: 006_disk with evidence 4.7
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.5755570981150475)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.406918636989119)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.6683950754112296)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -7.6007301912757566)
current most likely hypothesis: 006_disk with evidence 4.63
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.406918636989118)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.456860988867213)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -8.600730191275757)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.66839507541123)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.575557098115048)
current most likely hypothesis: 006_disk with evidence 4.08
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.575557098115048)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.406918636989118)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.66839507541123)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -9.600730191275757)
current most likely hypothesis: 006_disk with evidence 3.67
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.66839507541123)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.406918636989118)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.575557098115048)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -10.600730191275757)
current most likely hypothesis: 006_disk with evidence 4.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.575557098115048)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.456860988867213)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.66839507541123)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.406918636989118)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -11.600730191275757)
current most likely hypothesis: 006_disk with evidence 3.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.456860988867213)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -12.600730191275757)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.575557098115048)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.406918636989118)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.66839507541123)
current most likely hypothesis: 006_disk with evidence 2.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.575557098115048)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.456860988867213)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.406918636989118)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -13.600730191275757)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.66839507541123)
current most likely hypothesis: 006_disk with evidence 1.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.575557098115048)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -14.600730191275757)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.406918636989118)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.456860988867213)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.66839507541123)
current most likely hypothesis: 006_disk with evidence 0.85
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.575557098115048)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.66839507541123)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.406918636989118)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.456860988867213)
Testing 2776 out of 2776 hypotheses for 023_mug (evidence > -15.600730191275757)
current most likely hypothesis: 006_disk with evidence -0.15
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Going into exploratory mode after 18 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 155 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 502 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > 0.35919504643962874)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > 0.54585191958496)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > 0.5910883891101122)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > 0.4376170819204873)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > 0.35919504643962874)
current most likely hypothesis: 001_cube with evidence 2.49
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -0.5623829180795127)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -0.4089116108898878)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -0.45414808041503996)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -0.6408049535603713)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -0.6408049535603713)
current most likely hypothesis: 006_disk with evidence 3.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -1.5623829180795128)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -1.45414808041504)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -1.6408049535603713)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -1.4089116108898878)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -1.6408049535603713)
current most likely hypothesis: 001_cube with evidence 5.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -2.6408049535603713)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -2.562382918079513)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -2.408911610889888)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -2.45414808041504)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -2.6408049535603713)
current most likely hypothesis: 001_cube with evidence 6.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -3.6408049535603713)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -3.6408049535603713)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -3.562382918079513)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -3.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -3.408911610889888)
current most likely hypothesis: 001_cube with evidence 8.25
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -4.45414808041504)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -4.562382918079512)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -4.640804953560371)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -4.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -4.640804953560371)
current most likely hypothesis: 001_cube with evidence 9.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -5.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -5.408911610889888)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -5.640804953560371)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -5.562382918079512)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -5.640804953560371)
current most likely hypothesis: 001_cube with evidence 11.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -6.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -6.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -6.408911610889888)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -6.640804953560371)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -6.640804953560371)
current most likely hypothesis: 001_cube with evidence 12.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -7.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -7.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -7.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -7.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -7.640804953560371)
current most likely hypothesis: 001_cube with evidence 14.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -8.562382918079512)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -8.408911610889888)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -8.45414808041504)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -8.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -8.640804953560371)
current most likely hypothesis: 001_cube with evidence 13.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -9.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -9.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -9.408911610889888)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -9.640804953560371)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -9.640804953560371)
current most likely hypothesis: 001_cube with evidence 12.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -10.640804953560371)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -10.408911610889888)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -10.45414808041504)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -10.640804953560371)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -10.562382918079512)
current most likely hypothesis: 001_cube with evidence 11.07
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -11.562382918079512)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -11.640804953560371)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -11.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -11.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -11.640804953560371)
current most likely hypothesis: 001_cube with evidence 10.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -12.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -12.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -12.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -12.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -12.640804953560371)
current most likely hypothesis: 001_cube with evidence 9.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -13.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -13.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -13.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -13.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -13.640804953560371)
current most likely hypothesis: 001_cube with evidence 8.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -14.562382918079512)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -14.45414808041504)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -14.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -14.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -14.640804953560371)
current most likely hypothesis: 001_cube with evidence 7.11
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -15.562382918079512)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -15.408911610889888)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -15.45414808041504)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -15.640804953560371)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -15.640804953560371)
current most likely hypothesis: 001_cube with evidence 8.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -16.562382918079514)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -16.64080495356037)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -16.454148080415038)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -16.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -16.64080495356037)
current most likely hypothesis: 001_cube with evidence 7.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -17.64080495356037)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -17.454148080415038)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -17.64080495356037)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -17.408911610889888)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -17.562382918079514)
current most likely hypothesis: 001_cube with evidence 6.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -18.64080495356037)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -18.562382918079514)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -18.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -18.64080495356037)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -18.454148080415038)
current most likely hypothesis: 001_cube with evidence 5.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -19.64080495356037)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -19.562382918079514)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -19.454148080415038)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -19.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -19.64080495356037)
current most likely hypothesis: 001_cube with evidence 4.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -20.562382918079514)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -20.454148080415038)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -20.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -20.64080495356037)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -20.64080495356037)
current most likely hypothesis: 001_cube with evidence 3.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -21.562382918079514)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -21.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -21.64080495356037)
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -21.454148080415038)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -21.64080495356037)
current most likely hypothesis: 001_cube with evidence 2.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -22.454100861495235)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -22.408911610889888)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -22.562382918079514)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -22.64080495356037)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -22.64080495356037)
current most likely hypothesis: 001_cube with evidence 1.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -23.454100861495235)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -23.562382918079514)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -23.408911610889888)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -23.64080495356037)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -23.64080495356037)
current most likely hypothesis: 001_cube with evidence 0.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1184 out of 1184 hypotheses for 021_logo_tbp (evidence > -24.454100861495235)
Testing 824 out of 824 hypotheses for 022_logo_numenta (evidence > -24.408911610889888)
Testing 4016 out of 4016 hypotheses for 023_mug (evidence > -24.64080495356037)
Testing 8376 out of 8376 hypotheses for 006_disk (evidence > -24.64080495356037)
Testing 12912 out of 12912 hypotheses for 001_cube (evidence > -24.562382918079514)
current most likely hypothesis: 001_cube with evidence -0.43
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 27 ---
Going into exploratory mode after 27 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 93 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 595 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 5 to 6 of 14
New primary target: {'euler_rotation': array([35, 45,  0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.96
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.43642527176722457)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.2645387335261974)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.38113395568962855)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.38254482612336727)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > 0.2645387335261974)
current most likely hypothesis: 023_mug with evidence 2.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5635747282327754)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6174551738766327)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6188660443103715)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7354612664738026)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -0.7354612664738026)
current most likely hypothesis: 006_disk with evidence 3.26
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5635747282327754)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6188660443103715)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7354612664738025)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6174551738766327)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -1.7354612664738025)
current most likely hypothesis: 001_cube with evidence 4.32
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5635747282327754)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6174551738766327)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6188660443103715)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -2.7354612664738025)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.7354612664738025)
current most likely hypothesis: 001_cube with evidence 5.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6188660443103715)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5635747282327754)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6174551738766327)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.7354612664738025)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -3.7354612664738025)
current most likely hypothesis: 001_cube with evidence 4.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.563574728232775)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.735461266473802)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.618866044310371)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.617455173876633)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -4.735461266473802)
current most likely hypothesis: 001_cube with evidence 3.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.563574728232775)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.618866044310371)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.617455173876633)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.735461266473802)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -5.735461266473802)
current most likely hypothesis: 001_cube with evidence 4.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.735461266473802)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.616877640456713)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.617455173876633)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -6.735461266473802)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.563574728232775)
current most likely hypothesis: 001_cube with evidence 3.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.616877640456713)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.735461266473802)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.617455173876633)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.563574728232775)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -7.735461266473802)
current most likely hypothesis: 001_cube with evidence 2.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.617455173876632)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.563574728232776)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -8.735461266473802)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.616877640456714)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.735461266473802)
current most likely hypothesis: 001_cube with evidence 3.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.616877640456714)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.617455173876632)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.735461266473802)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -9.735461266473802)
current most likely hypothesis: 001_cube with evidence 4.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.616877640456714)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.735461266473802)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -10.735461266473802)
current most likely hypothesis: 001_cube with evidence 6.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.616877640456714)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -11.735461266473802)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.735461266473802)
current most likely hypothesis: 001_cube with evidence 5.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.735461266473802)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.616877640456714)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -12.735461266473802)
current most likely hypothesis: 001_cube with evidence 4.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.616877640456714)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.735461266473802)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.563574728232776)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -13.735461266473802)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.617455173876632)
current most likely hypothesis: 001_cube with evidence 3.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.735461266473802)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.616877640456714)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -14.735461266473802)
current most likely hypothesis: 001_cube with evidence 2.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.616877640456714)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.563574728232776)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.735461266473802)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -15.735461266473802)
current most likely hypothesis: 001_cube with evidence 1.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.616877640456714)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.617455173876632)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.563574728232776)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -16.735461266473802)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.735461266473802)
current most likely hypothesis: 001_cube with evidence 0.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.563574728232776)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.616877640456714)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.735461266473802)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.617455173876632)
Testing 1190 out of 1190 hypotheses for 023_mug (evidence > -17.735461266473802)
current most likely hypothesis: 001_cube with evidence -0.86
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Going into exploratory mode after 20 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 76 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 669 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 6 to 7 of 14
New primary target: {'euler_rotation': array([325,  45,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.88
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.3777700977772076)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.27742120416805705)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.23471988795518223)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.2334810287751466)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > 0.20522875816993463)
current most likely hypothesis: 023_mug with evidence 2.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.722578795831943)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.7665189712248535)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7652801120448178)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.6222299022227924)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -0.7947712418300654)
current most likely hypothesis: 001_cube with evidence 2.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.7665189712248535)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7652801120448178)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.6222299022227924)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.7225157962921982)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -1.7947712418300654)
current most likely hypothesis: 006_disk with evidence 3.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.722515796292198)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.7665189712248535)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.6222299022227924)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.7652801120448176)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -2.794771241830065)
current most likely hypothesis: 001_cube with evidence 4.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '022_logo_numenta']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '022_logo_numenta']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '022_logo_numenta']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '022_logo_numenta']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '022_logo_numenta']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.722515796292198)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.7652801120448176)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.6222299022227924)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.7665189712248535)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -3.794771241830065)
current most likely hypothesis: 001_cube with evidence 5.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.622229902222792)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.766518971224853)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.7640572018281)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -4.794771241830065)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.722489712782766)
current most likely hypothesis: 001_cube with evidence 6.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.722489712782766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.7640572018281)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -5.794771241830065)
current most likely hypothesis: 001_cube with evidence 7.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.722489712782766)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.749829497016198)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -6.794771241830065)
current most likely hypothesis: 001_cube with evidence 8.68
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.722322503680924)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.749829497016198)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -7.794771241830065)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.766518971224853)
current most likely hypothesis: 001_cube with evidence 9.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.722322503680925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.749829497016197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -8.794771241830066)
current most likely hypothesis: 001_cube with evidence 10.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.721448395197934)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.749829497016197)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.622062353293444)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -9.794771241830066)
current most likely hypothesis: 001_cube with evidence 9.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.721448395197934)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.749829497016197)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.622062353293444)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -10.794771241830066)
current most likely hypothesis: 001_cube with evidence 8.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.721448395197934)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.749829497016197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.766518971224853)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.622062353293444)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -11.794771241830066)
current most likely hypothesis: 001_cube with evidence 7.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.72133026685255)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.749829497016197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -12.794771241830066)
current most likely hypothesis: 001_cube with evidence 6.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.749829497016197)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.72133026685255)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.622062353293444)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.766518971224853)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -13.794771241830066)
current most likely hypothesis: 001_cube with evidence 5.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.72133026685255)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -14.794771241830066)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.766518971224853)
current most likely hypothesis: 001_cube with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.766518971224853)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.622062353293444)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.72133026685255)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -15.794771241830066)
current most likely hypothesis: 001_cube with evidence 5.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.721276029626686)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.622062353293444)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.766518971224855)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -16.794771241830066)
current most likely hypothesis: 001_cube with evidence 6.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.721276029626686)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.749829497016197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.766518971224855)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -17.794771241830066)
current most likely hypothesis: 001_cube with evidence 5.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.766518971224855)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.721276029626686)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.622062353293444)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -18.794771241830066)
current most likely hypothesis: 001_cube with evidence 4.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.766518971224855)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.721276029626686)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.749829497016197)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.622062353293444)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -19.794771241830066)
current most likely hypothesis: 001_cube with evidence 3.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.721276029626686)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -20.794771241830066)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.622062353293444)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.766518971224855)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.749829497016197)
current most likely hypothesis: 001_cube with evidence 2.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -21.766518971224855)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -21.622062353293444)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -21.721276029626686)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -21.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -21.794771241830066)
current most likely hypothesis: 001_cube with evidence 1.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -22.622062353293444)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -22.721276029626686)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -22.766518971224855)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -22.749829497016197)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -22.794771241830066)
current most likely hypothesis: 001_cube with evidence 0.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -23.721276029626686)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -23.749829497016197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -23.766518971224855)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -23.622062353293444)
Testing 1338 out of 1338 hypotheses for 023_mug (evidence > -23.794771241830066)
current most likely hypothesis: 001_cube with evidence -0.4
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 26 ---
Going into exploratory mode after 26 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 84 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 748 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 7 to 8 of 14
New primary target: {'euler_rotation': array([ 35, 315,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3599811840866418)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.41719282279383163)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.402990468364654)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.38997111070133383)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > 0.315104800540906)
current most likely hypothesis: 023_mug with evidence 2.92
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.5828071772061684)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6400188159133582)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6100288892986662)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.597009531635346)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -0.6848951994590939)
current most likely hypothesis: 023_mug with evidence 4.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6400188159133582)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5828071772061683)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5970095316353459)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -1.684895199459094)
current most likely hypothesis: 023_mug with evidence 6.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.640018815913358)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.597009531635346)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.5828071772061683)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -2.6848951994590937)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.610028889298666)
current most likely hypothesis: 023_mug with evidence 5.71
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.5828071772061683)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.640018815913358)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.597009531635346)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -3.6848951994590937)
current most likely hypothesis: 023_mug with evidence 7.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.640018815913358)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.582807177206169)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.597009531635345)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.6100288892986665)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -4.684895199459094)
current most likely hypothesis: 023_mug with evidence 6.35
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.640018815913358)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.582807177206169)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.597009531635345)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.6100288892986665)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -5.684895199459094)
current most likely hypothesis: 023_mug with evidence 8.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.640018815913358)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.582807177206169)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -6.684895199459094)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.6100288892986665)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.597009531635345)
current most likely hypothesis: 023_mug with evidence 7.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.640018815913358)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.6100288892986665)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.597009531635345)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -7.684895199459094)
current most likely hypothesis: 023_mug with evidence 6.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.610028889298666)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.597009531635345)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -8.684895199459094)
current most likely hypothesis: 023_mug with evidence 5.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.610028889298666)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.597009531635345)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -9.684895199459094)
current most likely hypothesis: 023_mug with evidence 4.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.639955816373615)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.597009531635345)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -10.684895199459094)
current most likely hypothesis: 023_mug with evidence 3.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.610028889298666)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.597009531635345)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -11.684895199459094)
current most likely hypothesis: 023_mug with evidence 2.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.597009531635345)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.582807177206169)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -12.684895199459094)
current most likely hypothesis: 023_mug with evidence 3.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.582807177206169)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.639955816373615)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.597009531635345)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -13.684895199459094)
current most likely hypothesis: 023_mug with evidence 2.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.582807177206169)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.597009531635345)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -14.684895199459094)
current most likely hypothesis: 023_mug with evidence 2.24
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.582807177206169)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.597009531635345)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.610028889298666)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -15.684895199459094)
current most likely hypothesis: 023_mug with evidence 4.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.58280717720617)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.61002888929867)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.597009531635344)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -16.684895199459092)
current most likely hypothesis: 023_mug with evidence 3.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.639955816373615)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.61002888929867)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.597009531635344)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.58280717720617)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -17.684895199459092)
current most likely hypothesis: 023_mug with evidence 2.17
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -18.639955816373615)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -18.597009531635344)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -18.61002888929867)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -18.58280717720617)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -18.684895199459092)
current most likely hypothesis: 023_mug with evidence 1.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -19.639955816373615)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -19.58280717720617)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -19.597009531635344)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -19.61002888929867)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -19.684895199459092)
current most likely hypothesis: 023_mug with evidence 0.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -20.639955816373615)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -20.61002888929867)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -20.58280717720617)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -20.597009531635344)
Testing 1496 out of 1496 hypotheses for 023_mug (evidence > -20.684895199459092)
current most likely hypothesis: 023_mug with evidence -0.83
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Going into exploratory mode after 24 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 96 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 842 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 8 to 9 of 14
New primary target: {'euler_rotation': array([325, 315,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.30118088173580343)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.37035070661583436)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3941444750535658)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.40152977534495404)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > 0.31742695194135584)
current most likely hypothesis: 023_mug with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6988191182641965)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6058555249464341)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.6296492933841656)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.598470224655046)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -0.6825730480586442)
current most likely hypothesis: 023_mug with evidence 4.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.6296492933841655)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6058555249464341)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6988191182641965)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.598470224655046)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -1.6825730480586443)
current most likely hypothesis: 023_mug with evidence 3.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6988191182641965)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.605855524946434)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.598470224655046)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.6296492933841655)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -2.6825730480586443)
current most likely hypothesis: 023_mug with evidence 5.73
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.6296492933841655)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.598470224655046)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.605855524946434)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6988191182641965)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -3.6825730480586443)
current most likely hypothesis: 023_mug with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.6296492933841655)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.698819118264197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.605855524946434)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.5984702246550455)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -4.682573048058645)
current most likely hypothesis: 023_mug with evidence 6.58
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.698819118264197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.605855524946434)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.6296492933841655)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.5984702246550455)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -5.682573048058645)
current most likely hypothesis: 023_mug with evidence 5.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.5984702246550455)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.605855524946434)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.6296492933841655)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.698819118264197)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -6.682573048058645)
current most likely hypothesis: 023_mug with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.6296492933841655)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.5984702246550455)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.605855524946434)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -7.682573048058645)
current most likely hypothesis: 023_mug with evidence 3.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.629649293384166)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.598470224655046)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.605855524946435)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -8.682573048058645)
current most likely hypothesis: 023_mug with evidence 2.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.598470224655046)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.629649293384166)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.605855524946435)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -9.682573048058645)
current most likely hypothesis: 023_mug with evidence 4.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.629649293384166)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.605855524946435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.598470224655046)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -10.682573048058645)
current most likely hypothesis: 023_mug with evidence 3.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.698819118264197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.605855524946435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.598470224655046)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.629649293384166)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -11.682573048058645)
current most likely hypothesis: 023_mug with evidence 2.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.598470224655046)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.605855524946435)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.629649293384166)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -12.682573048058645)
current most likely hypothesis: 023_mug with evidence 1.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.698819118264197)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.605855524946435)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.629649293384166)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.598470224655046)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -13.682573048058645)
current most likely hypothesis: 023_mug with evidence 1.66
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.629649293384166)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.605855524946435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.598470224655046)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.698819118264197)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -14.682573048058645)
current most likely hypothesis: 023_mug with evidence 2.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.605855524946435)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.598470224655046)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.629649293384166)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.698819118264197)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -15.682573048058645)
current most likely hypothesis: 023_mug with evidence 1.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.629649293384166)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.598470224655046)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -16.682573048058643)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.605855524946435)
current most likely hypothesis: 023_mug with evidence 0.45
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -17.698819118264197)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -17.629649293384166)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -17.598470224655046)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -17.605855524946435)
Testing 1684 out of 1684 hypotheses for 023_mug (evidence > -17.682573048058643)
current most likely hypothesis: 023_mug with evidence -0.55
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Going into exploratory mode after 21 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 97 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 935 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 9 to 10 of 14
New primary target: {'euler_rotation': array([ 35, 135,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.28296577677447055)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.372501827156107)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.23897122485357797)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > 0.21071895424836598)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.2402100840336136)
current most likely hypothesis: 023_mug with evidence 2.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.7170342232255295)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.761028775146422)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.7597899159663863)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -0.789281045751634)
current most likely hypothesis: 023_mug with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.7170342232255296)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.761028775146422)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7597899159663863)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.627498172843893)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -1.789281045751634)
current most likely hypothesis: 023_mug with evidence 3.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.7170342232255296)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.7597899159663863)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.627498172843893)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.761028775146422)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -2.789281045751634)
current most likely hypothesis: 023_mug with evidence 2.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.627498172843893)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.7170342232255296)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.761028775146422)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.7597899159663863)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -3.789281045751634)
current most likely hypothesis: 023_mug with evidence 4.05
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.71703422322553)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.759789915966387)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.761028775146422)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -4.789281045751634)
current most likely hypothesis: 023_mug with evidence 3.08
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.761028775146422)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.759789915966387)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.71703422322553)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.627498172843893)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -5.789281045751634)
current most likely hypothesis: 023_mug with evidence 3.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.71703422322553)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.759789915966387)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.627498172843893)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.761028775146422)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -6.789281045751634)
current most likely hypothesis: 001_cube with evidence 3.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
learning_module_0 did not recognize an object yet.
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.71703422322553)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.761028775146422)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.759789915966387)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.627498172843893)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -7.789281045751634)
current most likely hypothesis: 001_cube with evidence 3.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.761028775146421)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.717034223225529)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.759789915966387)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -8.789281045751634)
current most likely hypothesis: 023_mug with evidence 3.54
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.717034223225529)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.761028775146421)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.759789915966387)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.627498172843893)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -9.789281045751634)
current most likely hypothesis: 001_cube with evidence 4.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.627498172843893)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.761028775146421)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.717034223225529)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.758567005749669)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -10.789281045751634)
current most likely hypothesis: 001_cube with evidence 5.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.717034223225529)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.758567005749669)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.761028775146421)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -11.789281045751634)
current most likely hypothesis: 001_cube with evidence 4.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.717034223225529)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.758567005749669)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -12.789281045751634)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.761028775146421)
current most likely hypothesis: 001_cube with evidence 3.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.717034223225529)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.627498172843893)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.761028775146421)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.758567005749669)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -13.789281045751634)
current most likely hypothesis: 001_cube with evidence 2.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.717034223225529)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.758567005749669)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.761028775146421)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.627498172843893)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -14.789281045751634)
current most likely hypothesis: 001_cube with evidence 1.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.717034223225529)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.627498172843893)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.761028775146421)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.758567005749669)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -15.789281045751634)
current most likely hypothesis: 001_cube with evidence 0.29
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.71703422322553)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.627498172843893)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.75856700574967)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.76102877514642)
Testing 1870 out of 1870 hypotheses for 023_mug (evidence > -16.789281045751636)
current most likely hypothesis: 023_mug with evidence -0.5
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 89 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1023 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 10 to 11 of 14
New primary target: {'euler_rotation': array([325, 135,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.43397539208920255)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.3688212157236652)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.265848252344416)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.37023208615740394)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > 0.265848252344416)
current most likely hypothesis: 023_mug with evidence 2.86
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6311787842763348)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5660246079107975)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.629767913842596)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.734151747655584)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -0.734151747655584)
current most likely hypothesis: 023_mug with evidence 4.69
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6311787842763348)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.629767913842596)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.7341517476555839)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5660246079107973)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -1.7341517476555839)
current most likely hypothesis: 023_mug with evidence 3.79
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.631178784276335)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.629767913842596)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.558577517963707)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.734151747655584)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -2.734151747655584)
current most likely hypothesis: 023_mug with evidence 4.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.631178784276335)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.558577517963707)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.629767913842596)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.734151747655584)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -3.734151747655584)
current most likely hypothesis: 023_mug with evidence 4.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.558577517963707)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.629767913842596)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -4.734151747655584)
current most likely hypothesis: 023_mug with evidence 3.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.629767913842596)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -5.734151747655584)
current most likely hypothesis: 023_mug with evidence 4.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.627960074361667)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.734151747655584)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -6.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.558577517963707)
current most likely hypothesis: 023_mug with evidence 4.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.734151747655584)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.627960074361667)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -7.734151747655584)
current most likely hypothesis: 023_mug with evidence 3.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.631178784276335)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.627960074361667)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -8.734151747655584)
current most likely hypothesis: 023_mug with evidence 2.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.631178784276335)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.627960074361667)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -9.734151747655584)
current most likely hypothesis: 023_mug with evidence 1.5
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.734151747655584)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.627960074361667)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -10.734151747655584)
current most likely hypothesis: 023_mug with evidence 2.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.631178784276335)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.627960074361667)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.558577517963707)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -11.734151747655584)
current most likely hypothesis: 023_mug with evidence 1.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.734151747655584)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.558577517963707)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.627960074361667)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -12.734151747655584)
current most likely hypothesis: 023_mug with evidence 0.93
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.558577517963707)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.631178784276335)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.734151747655584)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.627960074361667)
Testing 2046 out of 2046 hypotheses for 023_mug (evidence > -13.734151747655584)
current most likely hypothesis: 023_mug with evidence -0.07
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Going into exploratory mode after 16 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 76 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1092 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 11 to 12 of 14
New primary target: {'euler_rotation': array([ 35, 225,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.32314971136932946)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.42349860497848)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.3972840568844954)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.3924405756323456)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > 0.3538679422779286)
current most likely hypothesis: 023_mug with evidence 2.96
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6768502886306705)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.6075594243676544)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.6027159431155046)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -0.6461320577220714)
current most likely hypothesis: 023_mug with evidence 4.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6768502886306704)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.5765013950215199)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.6075594243676545)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.6027159431155047)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -1.6461320577220713)
current most likely hypothesis: 023_mug with evidence 6.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.6768502886306704)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.57650139502152)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.6027159431155047)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.6075594243676545)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -2.6461320577220713)
current most likely hypothesis: 023_mug with evidence 5.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.6768502886306704)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.57650139502152)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.6027159431155047)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.6075594243676545)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -3.6461320577220713)
current most likely hypothesis: 023_mug with evidence 4.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.6767872890909254)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.602715943115505)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -4.646132057722071)
current most likely hypothesis: 023_mug with evidence 3.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.6767872890909254)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.602715943115505)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -5.646132057722071)
current most likely hypothesis: 023_mug with evidence 2.85
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.6767872890909254)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.602715943115505)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.607559424367654)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -6.646132057722071)
current most likely hypothesis: 023_mug with evidence 3.82
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.6767872890909254)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.602715943115505)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -7.646132057722071)
current most likely hypothesis: 023_mug with evidence 3.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.676787289090925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -8.64613205772207)
current most likely hypothesis: 023_mug with evidence 2.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.676787289090925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -9.64613205772207)
current most likely hypothesis: 023_mug with evidence 1.54
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.676787289090925)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.602715943115506)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.607559424367654)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -10.64613205772207)
current most likely hypothesis: 023_mug with evidence 3.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.676787289090925)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.607559424367654)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.57650139502152)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -11.64613205772207)
current most likely hypothesis: 023_mug with evidence 2.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.676787289090925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -12.64613205772207)
current most likely hypothesis: 023_mug with evidence 1.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.676787289090925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -13.64613205772207)
current most likely hypothesis: 023_mug with evidence 0.23
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.676787289090925)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.57650139502152)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.607559424367654)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.602715943115506)
Testing 2184 out of 2184 hypotheses for 023_mug (evidence > -14.64613205772207)
current most likely hypothesis: 023_mug with evidence -0.77
Setting terminal state of learning_module_0 to no_match
Skipping step on learning module 1
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Going into exploratory mode after 20 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 98 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1188 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 12 to 13 of 14
New primary target: {'euler_rotation': array([325, 225,   0]),
 'object': '023_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: 023_mug
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 023_mug with evidence 1.0
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk', '023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > 0.37937398824436924)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > 0.38078485867810796)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > 0.4812268702310633)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > 0.31659442724458203)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > 0.31659442724458203)
current most likely hypothesis: 023_mug with evidence 2.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -0.6206260117556308)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -0.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -0.683405572755418)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -0.5187731297689366)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -0.683405572755418)
current most likely hypothesis: 023_mug with evidence 4.76
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -1.6206260117556308)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -1.5187731297689366)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -1.683405572755418)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -1.619215141321892)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -1.683405572755418)
current most likely hypothesis: 023_mug with evidence 6.59
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 4 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -2.620626011755631)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -2.683405572755418)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -2.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -2.5187731297689364)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -2.683405572755418)
current most likely hypothesis: 023_mug with evidence 8.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -3.620626011755631)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -3.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -3.683405572755418)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -3.5187731297689364)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -3.683405572755418)
current most likely hypothesis: 023_mug with evidence 7.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 6 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -4.620626011755631)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -4.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -4.683405572755418)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -4.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -4.683405572755418)
current most likely hypothesis: 023_mug with evidence 6.46
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 7 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -5.620626011755631)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -5.683405572755418)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -5.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -5.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -5.683405572755418)
current most likely hypothesis: 023_mug with evidence 8.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 8 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -6.683405572755418)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -6.620626011755631)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -6.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -6.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -6.683405572755418)
current most likely hypothesis: 023_mug with evidence 7.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -7.620626011755631)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -7.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -7.518773129768936)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -7.683405572755418)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -7.683405572755418)
current most likely hypothesis: 023_mug with evidence 6.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 10 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -8.62062601175563)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -8.683405572755419)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -8.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -8.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -8.683405572755419)
current most likely hypothesis: 023_mug with evidence 5.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 11 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -9.62062601175563)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -9.683405572755419)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -9.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -9.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -9.683405572755419)
current most likely hypothesis: 023_mug with evidence 7.22
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -10.62062601175563)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -10.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -10.683405572755419)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -10.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -10.683405572755419)
current most likely hypothesis: 023_mug with evidence 9.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 13 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -11.62062601175563)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -11.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -11.683405572755419)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -11.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -11.683405572755419)
current most likely hypothesis: 023_mug with evidence 11.01
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -12.62062601175563)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -12.683405572755419)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -12.518773129768936)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -12.619215141321892)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -12.683405572755419)
current most likely hypothesis: 023_mug with evidence 12.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -13.62062601175563)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -13.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -13.518773129768936)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -13.683405572755419)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -13.683405572755419)
current most likely hypothesis: 023_mug with evidence 14.72
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -14.62062601175563)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -14.619215141321892)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -14.683405572755419)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -14.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -14.683405572755419)
current most likely hypothesis: 023_mug with evidence 16.51
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -15.62062601175563)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -15.683405572755419)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -15.619215141321892)
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -15.518773129768936)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -15.683405572755419)
current most likely hypothesis: 023_mug with evidence 18.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Pose for learning_module_0 not narrowed down yet
Setting terminal state of learning_module_1 to no_match
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Skipping step on learning module 0
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3228 out of 3228 hypotheses for 001_cube (evidence > -16.518773129768938)
Testing 296 out of 296 hypotheses for 021_logo_tbp (evidence > -16.620626011755633)
Testing 206 out of 206 hypotheses for 022_logo_numenta (evidence > -16.61921514132189)
Testing 2094 out of 2094 hypotheses for 006_disk (evidence > -16.68340557275542)
Testing 2376 out of 2376 hypotheses for 023_mug (evidence > -16.68340557275542)
current most likely hypothesis: 023_mug with evidence 20.17
Skipping step on learning module 1
Possible matches for learning_module_0: ['023_mug']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [0.02143326 1.46982298 0.02738198]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 023_mug at location [0.021 1.47  0.027], rotation [325.381 314.812 179.751], and scale 1.0
learning_module_0 recognized object 023_mug
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 19 steps

---Updating memory of learning_module_0---
023_mug already in memory (['001_cube', '006_disk', '021_logo_tbp', '022_logo_numenta', '023_mug'])
Updating existing graph for 023_mug
adding 93 observations
Extended graph 023_mug with new points. New model:
{'patch_0': Model for 023_mug:
   Contains 1274 points in graph.
   Feature grid shape: torch.Size([200, 200, 200, 19])
   Stored features and their indexes:
           pose_vectors - 0:9,
           pose_fully_defined - 9:10,
           on_object - 10:11,
           object_coverage - 11:12,
           min_depth - 12:13,
           mean_depth - 13:14,
           hsv - 14:17,
           principal_curvatures_log - 17:19,
}

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


Going from 13 to 0 of 14
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '023_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_curved_objects_after_flat_and_logo/supervised_pre_training_curved_objects_after_flat_and_logo-parallel_train_episode_023_mug/pretrained
