logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
001_cube not in memory ([])
Adding a new graph to memory.
init object model with id 001_cube
building graph from 110 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7516ac7bb550>
Added new graph with id 001_cube to memory.
Model for 001_cube:
   Contains 110 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.        , 0.70710678, 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0, 0.707106781186547, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 880 out of 880 hypotheses for 001_cube (evidence > 0.9365543386808133)
current most likely hypothesis: 001_cube with evidence 2.48
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 880 out of 880 hypotheses for 001_cube (evidence > -0.06344566131918672)
current most likely hypothesis: 001_cube with evidence 3.93
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 880 out of 880 hypotheses for 001_cube (evidence > -1.0634456613191867)
current most likely hypothesis: 001_cube with evidence 5.4
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 880 out of 880 hypotheses for 001_cube (evidence > -2.0634456613191867)
current most likely hypothesis: 001_cube with evidence 6.89
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 880 out of 880 hypotheses for 001_cube (evidence > -3.0634456613191867)
current most likely hypothesis: 001_cube with evidence 8.34
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 880 out of 880 hypotheses for 001_cube (evidence > -4.063445661319187)
current most likely hypothesis: 001_cube with evidence 9.83
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 880 out of 880 hypotheses for 001_cube (evidence > -5.063445661319187)
current most likely hypothesis: 001_cube with evidence 11.31
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 880 out of 880 hypotheses for 001_cube (evidence > -6.063445661319187)
current most likely hypothesis: 001_cube with evidence 12.79
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 880 out of 880 hypotheses for 001_cube (evidence > -7.060762100011138)
current most likely hypothesis: 001_cube with evidence 14.26
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 880 out of 880 hypotheses for 001_cube (evidence > -8.060762100011138)
current most likely hypothesis: 001_cube with evidence 15.73
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 880 out of 880 hypotheses for 001_cube (evidence > -9.060762100011138)
current most likely hypothesis: 001_cube with evidence 17.19
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 880 out of 880 hypotheses for 001_cube (evidence > -10.060762100011138)
current most likely hypothesis: 001_cube with evidence 18.67
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 880 out of 880 hypotheses for 001_cube (evidence > -11.060762100011138)
current most likely hypothesis: 001_cube with evidence 20.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.01058431  1.48915729  0.05999941]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 880 out of 880 hypotheses for 001_cube (evidence > -12.060762100011138)
current most likely hypothesis: 001_cube with evidence 21.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.00328238  1.48185761  0.05999982]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 880 out of 880 hypotheses for 001_cube (evidence > -13.060762100011138)
current most likely hypothesis: 001_cube with evidence 22.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.01397054  1.47810154  0.06000025]
added symmetry evidence
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.014  1.478  0.06 ], rotation [0. 0. 0.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 109 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 219 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.000000e+00, 1.000000e+00, 0.000000e+00, 6.123234e-17]),
 'rotation': quaternion(6.12323399573677e-17, 0, 1, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > 0.9140189541043526)
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 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 1752 out of 1752 hypotheses for 001_cube (evidence > -0.08598104589564737)
current most likely hypothesis: 001_cube with evidence 3.95
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -1.0859810458956474)
current most likely hypothesis: 001_cube with evidence 5.43
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -2.0859810458956476)
current most likely hypothesis: 001_cube with evidence 6.87
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 1752 out of 1752 hypotheses for 001_cube (evidence > -3.0859810458956476)
current most likely hypothesis: 001_cube with evidence 8.35
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 1752 out of 1752 hypotheses for 001_cube (evidence > -4.085981045895648)
current most likely hypothesis: 001_cube with evidence 9.82
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 1752 out of 1752 hypotheses for 001_cube (evidence > -5.085981045895648)
current most likely hypothesis: 001_cube with evidence 11.29
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 1752 out of 1752 hypotheses for 001_cube (evidence > -6.085981045895648)
current most likely hypothesis: 001_cube with evidence 12.78
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 1752 out of 1752 hypotheses for 001_cube (evidence > -7.085981045895648)
current most likely hypothesis: 001_cube with evidence 14.27
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 1752 out of 1752 hypotheses for 001_cube (evidence > -8.085981045895647)
current most likely hypothesis: 001_cube with evidence 15.73
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 1752 out of 1752 hypotheses for 001_cube (evidence > -9.085981045895647)
current most likely hypothesis: 001_cube with evidence 17.16
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 1752 out of 1752 hypotheses for 001_cube (evidence > -10.085981045895647)
current most likely hypothesis: 001_cube with evidence 18.65
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -11.085981045895647)
current most likely hypothesis: 001_cube with evidence 20.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.04352774  1.49630111  0.02008447]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 1752 out of 1752 hypotheses for 001_cube (evidence > -12.085981045895647)
current most likely hypothesis: 001_cube with evidence 21.56
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.04109401  1.49386788  0.0200846 ]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -13.085981045895647)
current most likely hypothesis: 001_cube with evidence 23.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.05079428  1.49551872  0.01210163]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -14.085981045895647)
current most likely hypothesis: 001_cube with evidence 24.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.04797415  1.49558403  0.0121017 ]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -15.085981045895647)
current most likely hypothesis: 001_cube with evidence 25.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.04515252  1.49551623  0.0121018 ]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1752 out of 1752 hypotheses for 001_cube (evidence > -16.085981045895647)
current most likely hypothesis: 001_cube with evidence 27.4
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.04368593  1.4969493   0.01210177]
added symmetry evidence
Symmetry detected for hypotheses [  42  192  480  918 1356]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.06   1.521  0.015], rotation [90. 90.  0.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 109 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 328 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.        ,  0.70710678,  0.        , -0.70710678]),
 'rotation': quaternion(-0.707106781186547, 0, 0.707106781186548, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > 0.897269695529082)
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 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 2624 out of 2624 hypotheses for 001_cube (evidence > -0.10273030447091802)
current most likely hypothesis: 001_cube with evidence 3.96
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -1.102730304470918)
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 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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -2.102730304470918)
current most likely hypothesis: 001_cube with evidence 6.91
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 2624 out of 2624 hypotheses for 001_cube (evidence > -3.102730304470918)
current most likely hypothesis: 001_cube with evidence 8.4
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 2624 out of 2624 hypotheses for 001_cube (evidence > -4.102730304470918)
current most likely hypothesis: 001_cube with evidence 9.82
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 2624 out of 2624 hypotheses for 001_cube (evidence > -5.102730304470918)
current most likely hypothesis: 001_cube with evidence 11.31
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 2624 out of 2624 hypotheses for 001_cube (evidence > -6.102730304470918)
current most likely hypothesis: 001_cube with evidence 12.78
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 2624 out of 2624 hypotheses for 001_cube (evidence > -7.102730304470918)
current most likely hypothesis: 001_cube with evidence 14.25
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 2624 out of 2624 hypotheses for 001_cube (evidence > -8.102730304470917)
current most likely hypothesis: 001_cube with evidence 15.71
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 2624 out of 2624 hypotheses for 001_cube (evidence > -9.102730304470917)
current most likely hypothesis: 001_cube with evidence 17.19
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 2624 out of 2624 hypotheses for 001_cube (evidence > -10.102730304470917)
current most likely hypothesis: 001_cube with evidence 18.65
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -11.102730304470917)
current most likely hypothesis: 001_cube with evidence 20.13
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.02616743  1.49772987 -0.0119491 ]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 2624 out of 2624 hypotheses for 001_cube (evidence > -12.102730304470917)
current most likely hypothesis: 001_cube with evidence 21.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-0.0247072   1.49626993 -0.01194917]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -13.102730304470917)
current most likely hypothesis: 001_cube with evidence 23.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-0.0282755   1.49745396 -0.01994365]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -14.102730304470917)
current most likely hypothesis: 001_cube with evidence 24.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-0.02670874  1.49749024 -0.01994375]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -15.102730304470917)
current most likely hypothesis: 001_cube with evidence 26.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.02514115  1.49745258 -0.0199439 ]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2624 out of 2624 hypotheses for 001_cube (evidence > -16.102730304470917)
current most likely hypothesis: 001_cube with evidence 27.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [-0.02432644  1.49824873 -0.01994389]
added symmetry evidence
Symmetry detected for hypotheses [   7  319  320  663  975 1319 1631 1975 2287]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.06   1.521  0.015], rotation [90. 90.  0.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 110 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 438 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0.70710678, 0.        , 0.        , 0.70710678]),
 'rotation': quaternion(0.707106781186548, 0.707106781186547, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > 0.9244205699608828)
current most likely hypothesis: 001_cube with evidence 2.48
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 3504 out of 3504 hypotheses for 001_cube (evidence > -0.07557943003911716)
current most likely hypothesis: 001_cube with evidence 3.95
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -1.075579430039117)
current most likely hypothesis: 001_cube with evidence 5.43
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -2.075579430039117)
current most likely hypothesis: 001_cube with evidence 6.9
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 3504 out of 3504 hypotheses for 001_cube (evidence > -3.075579430039117)
current most likely hypothesis: 001_cube with evidence 8.4
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 3504 out of 3504 hypotheses for 001_cube (evidence > -4.075579430039117)
current most likely hypothesis: 001_cube with evidence 9.88
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 3504 out of 3504 hypotheses for 001_cube (evidence > -5.075579430039117)
current most likely hypothesis: 001_cube with evidence 11.34
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 3504 out of 3504 hypotheses for 001_cube (evidence > -6.075579430039117)
current most likely hypothesis: 001_cube with evidence 12.81
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 3504 out of 3504 hypotheses for 001_cube (evidence > -7.075579430039117)
current most likely hypothesis: 001_cube with evidence 14.28
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 3504 out of 3504 hypotheses for 001_cube (evidence > -8.075579430039117)
current most likely hypothesis: 001_cube with evidence 15.71
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 3504 out of 3504 hypotheses for 001_cube (evidence > -9.075579430039117)
current most likely hypothesis: 001_cube with evidence 17.18
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 3504 out of 3504 hypotheses for 001_cube (evidence > -10.075579430039117)
current most likely hypothesis: 001_cube with evidence 18.67
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 3504 out of 3504 hypotheses for 001_cube (evidence > -11.075579430039117)
current most likely hypothesis: 001_cube with evidence 20.12
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-0.00154833  1.4983422  -0.00857135]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 3504 out of 3504 hypotheses for 001_cube (evidence > -12.075579430039117)
current most likely hypothesis: 001_cube with evidence 21.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-5.05193263e-04  1.49729939e+00 -8.57140329e-03]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -13.075579430039117)
current most likely hypothesis: 001_cube with evidence 23.1
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-1.11372875e-03  1.49819829e+00 -1.38462125e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -14.075579430039117)
current most likely hypothesis: 001_cube with evidence 24.58
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [-2.89550207e-05  1.49822340e+00 -1.38462838e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -15.075579430039117)
current most likely hypothesis: 001_cube with evidence 26.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [ 1.05643738e-03  1.49819733e+00 -1.38463890e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3504 out of 3504 hypotheses for 001_cube (evidence > -16.075579430039117)
current most likely hypothesis: 001_cube with evidence 27.52
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [ 0.00162046  1.49874851 -0.01384637]
added symmetry evidence
Symmetry detected for hypotheses [  42  190  261  424  918 1066 1137 1794 1942 2013 2670 2818 2889]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [-0.06   1.485  0.022], rotation [ 0. 90.  0.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 109 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 545 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 4.32978028e-17,  7.07106781e-01, -7.07106781e-01,  4.32978028e-17]),
 'rotation': quaternion(4.32978028117747e-17, 4.32978028117747e-17, 0.707106781186548, -0.707106781186547),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > 0.9112804622818992)
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 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 4360 out of 4360 hypotheses for 001_cube (evidence > -0.08871953771810082)
current most likely hypothesis: 001_cube with evidence 3.93
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -1.088719537718101)
current most likely hypothesis: 001_cube with evidence 5.4
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -2.088719537718101)
current most likely hypothesis: 001_cube with evidence 6.88
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 4360 out of 4360 hypotheses for 001_cube (evidence > -3.088719537718101)
current most likely hypothesis: 001_cube with evidence 8.37
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 4360 out of 4360 hypotheses for 001_cube (evidence > -4.0887195377181005)
current most likely hypothesis: 001_cube with evidence 9.83
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 4360 out of 4360 hypotheses for 001_cube (evidence > -5.0887195377181005)
current most likely hypothesis: 001_cube with evidence 11.27
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 4360 out of 4360 hypotheses for 001_cube (evidence > -6.0887195377181005)
current most likely hypothesis: 001_cube with evidence 12.75
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 4360 out of 4360 hypotheses for 001_cube (evidence > -7.0887195377181005)
current most likely hypothesis: 001_cube with evidence 14.25
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 4360 out of 4360 hypotheses for 001_cube (evidence > -8.0887195377181)
current most likely hypothesis: 001_cube with evidence 15.72
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 4360 out of 4360 hypotheses for 001_cube (evidence > -9.0887195377181)
current most likely hypothesis: 001_cube with evidence 17.19
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 4360 out of 4360 hypotheses for 001_cube (evidence > -10.0887195377181)
current most likely hypothesis: 001_cube with evidence 18.68
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 4360 out of 4360 hypotheses for 001_cube (evidence > -11.0887195377181)
current most likely hypothesis: 001_cube with evidence 20.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [-1.17603436e-03  1.51204381e+00 -6.63838666e-03]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 4360 out of 4360 hypotheses for 001_cube (evidence > -12.0887195377181)
current most likely hypothesis: 001_cube with evidence 21.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-3.64709218e-04  1.51123283e+00 -6.63843304e-03]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -13.0887195377181)
current most likely hypothesis: 001_cube with evidence 23.09
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
all possible locations are in radius 0.1 of [-8.21796323e-04  1.51273993e+00 -1.05584015e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -14.0887195377181)
current most likely hypothesis: 001_cube with evidence 24.55
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
all possible locations are in radius 0.1 of [ 7.73652887e-06  1.51275921e+00 -1.05584561e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -15.0887195377181)
current most likely hypothesis: 001_cube with evidence 26.02
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [ 8.37742115e-04  1.51273938e+00 -1.05585428e-02]
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: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4360 out of 4360 hypotheses for 001_cube (evidence > -16.0887195377181)
current most likely hypothesis: 001_cube with evidence 27.48
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
all possible locations are in radius 0.1 of [ 1.26905657e-03  1.51316086e+00 -1.05585322e-02]
added symmetry evidence
Symmetry detected for hypotheses [ 106  228  229  378  454 1196 1319 1468 1544 2286 2409 2558 2634 3376
 3499 3648 3724]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.022 1.56  0.015], rotation [90.  0.  0.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 111 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 654 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube 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']
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']
Possible matches for learning_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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5232 out of 5232 hypotheses for 001_cube (evidence > 0.8796417927562686)
current most likely hypothesis: 001_cube with evidence 2.03
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5232 out of 5232 hypotheses for 001_cube (evidence > -0.12035820724373136)
current most likely hypothesis: 001_cube with evidence 1.03
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 ---
Skipping step on learning module 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 5232 out of 5232 hypotheses for 001_cube (evidence > -1.1203582072437315)
current most likely hypothesis: 001_cube with evidence 0.43
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 5232 out of 5232 hypotheses for 001_cube (evidence > -2.1203582072437315)
current most likely hypothesis: 001_cube with evidence 1.68
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 5232 out of 5232 hypotheses for 001_cube (evidence > -3.1203582072437315)
current most likely hypothesis: 001_cube with evidence 0.85
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 5232 out of 5232 hypotheses for 001_cube (evidence > -4.120358207243731)
current most likely hypothesis: 001_cube 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 7 ---
Going into exploratory mode after 7 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 773 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6184 out of 6184 hypotheses for 001_cube (evidence > 0.47445145669603883)
current most likely hypothesis: 001_cube with evidence 2.33
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6184 out of 6184 hypotheses for 001_cube (evidence > -0.5255485433039612)
current most likely hypothesis: 001_cube with evidence 3.07
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 6184 out of 6184 hypotheses for 001_cube (evidence > -1.525548543303961)
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 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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6184 out of 6184 hypotheses for 001_cube (evidence > -2.525548543303961)
current most likely hypothesis: 001_cube with evidence 1.94
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 6184 out of 6184 hypotheses for 001_cube (evidence > -3.525548543303961)
current most likely hypothesis: 001_cube with evidence 0.94
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 6184 out of 6184 hypotheses for 001_cube (evidence > -4.525548543303961)
current most likely hypothesis: 001_cube with evidence -0.06
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 894 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
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']
Possible matches for learning_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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7152 out of 7152 hypotheses for 001_cube (evidence > 0.44817408518289675)
current most likely hypothesis: 001_cube with evidence 2.21
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7152 out of 7152 hypotheses for 001_cube (evidence > -0.5518259148171032)
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 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 7152 out of 7152 hypotheses for 001_cube (evidence > -1.5518259148171032)
current most likely hypothesis: 001_cube with evidence 4.13
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 7152 out of 7152 hypotheses for 001_cube (evidence > -2.551825914817103)
current most likely hypothesis: 001_cube with evidence 3.95
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 7152 out of 7152 hypotheses for 001_cube (evidence > -3.551825914817103)
current most likely hypothesis: 001_cube with evidence 2.97
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 7152 out of 7152 hypotheses for 001_cube (evidence > -4.551825914817103)
current most likely hypothesis: 001_cube with evidence 1.97
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 7152 out of 7152 hypotheses for 001_cube (evidence > -5.551825914817103)
current most likely hypothesis: 001_cube with evidence 0.97
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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
Sending input from ['patch_0'] to learning_module_0
Testing 7152 out of 7152 hypotheses for 001_cube (evidence > -6.551825914817103)
current most likely hypothesis: 001_cube with evidence -0.03
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 9 ---
Going into exploratory mode after 9 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 123 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1017 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
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']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8136 out of 8136 hypotheses for 001_cube (evidence > 0.4650148225565789)
current most likely hypothesis: 001_cube with evidence 2.39
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 8136 out of 8136 hypotheses for 001_cube (evidence > -0.5349851774434211)
current most likely hypothesis: 001_cube with evidence 3.52
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 8136 out of 8136 hypotheses for 001_cube (evidence > -1.5349851774434211)
current most likely hypothesis: 001_cube with evidence 4.41
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 8136 out of 8136 hypotheses for 001_cube (evidence > -2.534985177443421)
current most likely hypothesis: 001_cube with evidence 3.41
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 8136 out of 8136 hypotheses for 001_cube (evidence > -3.534985177443421)
current most likely hypothesis: 001_cube with evidence 3.43
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 8136 out of 8136 hypotheses for 001_cube (evidence > -4.534985177443421)
current most likely hypothesis: 001_cube with evidence 2.43
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 8136 out of 8136 hypotheses for 001_cube (evidence > -5.534985177443421)
current most likely hypothesis: 001_cube with evidence 1.79
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: ['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
Sending input from ['patch_1'] to learning_module_1
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 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 8136 out of 8136 hypotheses for 001_cube (evidence > -6.534985177443421)
current most likely hypothesis: 001_cube with evidence 0.79
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
Sending input from ['patch_1'] to learning_module_1
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 8136 out of 8136 hypotheses for 001_cube (evidence > -7.534985177443421)
current most likely hypothesis: 001_cube with evidence 1.49
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
Skipping step on learning module 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 8136 out of 8136 hypotheses for 001_cube (evidence > -8.53498517744342)
current most likely hypothesis: 001_cube with evidence 0.49
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 8136 out of 8136 hypotheses for 001_cube (evidence > -9.53498517744342)
current most likely hypothesis: 001_cube with evidence -0.51
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 14 ---
Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1139 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 001_cube with evidence 0.99
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
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']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9112 out of 9112 hypotheses for 001_cube (evidence > 0.4448352413180695)
current most likely hypothesis: 001_cube with evidence 2.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 9112 out of 9112 hypotheses for 001_cube (evidence > -0.5551647586819305)
current most likely hypothesis: 001_cube with evidence 4.37
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 9112 out of 9112 hypotheses for 001_cube (evidence > -1.5551647586819306)
current most likely hypothesis: 001_cube with evidence 5.84
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 9112 out of 9112 hypotheses for 001_cube (evidence > -2.5551647586819306)
current most likely hypothesis: 001_cube with evidence 7.31
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 9112 out of 9112 hypotheses for 001_cube (evidence > -3.5551647586819306)
current most likely hypothesis: 001_cube with evidence 9.24
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 9112 out of 9112 hypotheses for 001_cube (evidence > -4.555164758681931)
current most likely hypothesis: 001_cube with evidence 11.18
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 9112 out of 9112 hypotheses for 001_cube (evidence > -5.555164758681931)
current most likely hypothesis: 001_cube with evidence 13.12
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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
Sending input from ['patch_1'] to learning_module_1
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 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 9112 out of 9112 hypotheses for 001_cube (evidence > -6.555164758681931)
current most likely hypothesis: 001_cube with evidence 14.6
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
Sending input from ['patch_1'] to learning_module_1
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 9112 out of 9112 hypotheses for 001_cube (evidence > -7.555164758681931)
current most likely hypothesis: 001_cube with evidence 16.08
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 9112 out of 9112 hypotheses for 001_cube (evidence > -8.555164758681931)
current most likely hypothesis: 001_cube with evidence 17.52
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 9112 out of 9112 hypotheses for 001_cube (evidence > -9.555164758681931)
current most likely hypothesis: 001_cube with evidence 18.98
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 9112 out of 9112 hypotheses for 001_cube (evidence > -10.555164758681931)
current most likely hypothesis: 001_cube with evidence 20.47
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [0.06000443 1.48559215 0.0457327 ]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.06  1.486 0.046], rotation [3.26729e+02 3.15000e+02 1.90000e-02], and scale 1.0
learning_module_0 recognized object 001_cube
Setting terminal state of learning_module_1 to no_match


MONTY DETECTED MATCH


Going into exploratory mode after 15 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1258 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10064 out of 10064 hypotheses for 001_cube (evidence > 0.4409794120529719)
current most likely hypothesis: 001_cube with evidence 2.44
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10064 out of 10064 hypotheses for 001_cube (evidence > -0.559020587947028)
current most likely hypothesis: 001_cube with evidence 3.71
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 10064 out of 10064 hypotheses for 001_cube (evidence > -1.559020587947028)
current most likely hypothesis: 001_cube with evidence 2.93
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 10064 out of 10064 hypotheses for 001_cube (evidence > -2.5590205879470282)
current most likely hypothesis: 001_cube with evidence 1.93
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 10064 out of 10064 hypotheses for 001_cube (evidence > -3.5590205879470282)
current most likely hypothesis: 001_cube with evidence 3.15
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 10064 out of 10064 hypotheses for 001_cube (evidence > -4.559020587947028)
current most likely hypothesis: 001_cube with evidence 2.15
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: ['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 10064 out of 10064 hypotheses for 001_cube (evidence > -5.559020587947028)
current most likely hypothesis: 001_cube with evidence 1.15
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: ['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
Sending input from ['patch_0'] to learning_module_0
Testing 10064 out of 10064 hypotheses for 001_cube (evidence > -6.559020587947028)
current most likely hypothesis: 001_cube with evidence 0.15
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: ['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
Sending input from ['patch_0'] to learning_module_0
Testing 10064 out of 10064 hypotheses for 001_cube (evidence > -7.559020587947028)
current most likely hypothesis: 001_cube with evidence 1.44
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 10064 out of 10064 hypotheses for 001_cube (evidence > -8.559020587947028)
current most likely hypothesis: 001_cube with evidence 0.44
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: ['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 10064 out of 10064 hypotheses for 001_cube (evidence > -9.559020587947028)
current most likely hypothesis: 001_cube with evidence 1.49
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
Skipping step on learning module 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 10064 out of 10064 hypotheses for 001_cube (evidence > -10.559020587947028)
current most likely hypothesis: 001_cube with evidence 0.49
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 10064 out of 10064 hypotheses for 001_cube (evidence > -11.559020587947028)
current most likely hypothesis: 001_cube with evidence -0.51
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 14 ---
Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1378 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > 0.4697774076089255)
current most likely hypothesis: 001_cube with evidence 2.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > -0.5302225923910745)
current most likely hypothesis: 001_cube with evidence 4.85
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 11024 out of 11024 hypotheses for 001_cube (evidence > -1.5302225923910746)
current most likely hypothesis: 001_cube with evidence 6.25
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > -2.5302225923910746)
current most likely hypothesis: 001_cube with evidence 7.69
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 11024 out of 11024 hypotheses for 001_cube (evidence > -3.5302225923910746)
current most likely hypothesis: 001_cube with evidence 9.13
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 11024 out of 11024 hypotheses for 001_cube (evidence > -4.530222592391075)
current most likely hypothesis: 001_cube with evidence 8.13
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 11024 out of 11024 hypotheses for 001_cube (evidence > -5.530222592391075)
current most likely hypothesis: 001_cube with evidence 9.56
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
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > -6.530222592391075)
current most likely hypothesis: 001_cube with evidence 11.47
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
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > -7.530222592391075)
current most likely hypothesis: 001_cube with evidence 13.28
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 11024 out of 11024 hypotheses for 001_cube (evidence > -8.530222592391075)
current most likely hypothesis: 001_cube with evidence 15.13
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 11024 out of 11024 hypotheses for 001_cube (evidence > -9.530222592391075)
current most likely hypothesis: 001_cube with evidence 16.46
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 11024 out of 11024 hypotheses for 001_cube (evidence > -10.530222592391075)
current most likely hypothesis: 001_cube with evidence 18.36
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: ['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
Sending input from ['patch_0'] to learning_module_0
Testing 11024 out of 11024 hypotheses for 001_cube (evidence > -11.530222592391075)
current most likely hypothesis: 001_cube with evidence 20.3
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['001_cube']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
all possible locations are in radius 0.1 of [0.06000052 1.52441059 0.05603502]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 001_cube at location [0.06  1.524 0.056], rotation [ 35. 315. 180.], and scale 1.0
learning_module_0 recognized object 001_cube
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---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'patch_0': Model for 001_cube:
   Contains 1497 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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 001_cube
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']
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']
Possible matches for learning_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 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 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 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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 11976 out of 11976 hypotheses for 001_cube (evidence > 0.478527068282089)
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 2 ---
Sending input from ['patch_0'] to learning_module_0
Testing 11976 out of 11976 hypotheses for 001_cube (evidence > -0.521472931717911)
current most likely hypothesis: 001_cube with evidence 3.72
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 ---
Skipping step on learning module 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 11976 out of 11976 hypotheses for 001_cube (evidence > -1.521472931717911)
current most likely hypothesis: 001_cube with evidence 5.01
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 11976 out of 11976 hypotheses for 001_cube (evidence > -2.521472931717911)
current most likely hypothesis: 001_cube with evidence 4.31
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 11976 out of 11976 hypotheses for 001_cube (evidence > -3.521472931717911)
current most likely hypothesis: 001_cube with evidence 3.33
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 11976 out of 11976 hypotheses for 001_cube (evidence > -4.521472931717911)
current most likely hypothesis: 001_cube with evidence 4.4
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 11976 out of 11976 hypotheses for 001_cube (evidence > -5.521472931717911)
current most likely hypothesis: 001_cube with evidence 3.4
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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
Sending input from ['patch_0'] to learning_module_0
Testing 11976 out of 11976 hypotheses for 001_cube (evidence > -6.521472931717911)
current most likely hypothesis: 001_cube with evidence 2.4
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
Sending input from ['patch_0'] to learning_module_0
Testing 11976 out of 11976 hypotheses for 001_cube (evidence > -7.521472931717911)
current most likely hypothesis: 001_cube with evidence 1.4
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 11976 out of 11976 hypotheses for 001_cube (evidence > -8.521472931717911)
current most likely hypothesis: 001_cube with evidence 0.4
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
Sending input from ['patch_1'] to learning_module_1
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
Sending input from ['patch_0'] to learning_module_0
Testing 11976 out of 11976 hypotheses for 001_cube (evidence > -9.521472931717911)
current most likely hypothesis: 001_cube with evidence 0.58
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 11976 out of 11976 hypotheses for 001_cube (evidence > -10.521472931717911)
current most likely hypothesis: 001_cube with evidence -0.42
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 14 ---
Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
001_cube already in memory (['001_cube'])
Updating existing graph for 001_cube
adding 122 observations
Extended graph 001_cube with new points. New model:
{'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,
}

---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': '001_cube',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([0., 0., 0., 1.]),
 'rotation': quaternion(1, 0, 0, 0),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
saving model to /home/rmounir/tbp/results/monty/pretrained_models/pretrained_ycb_v11/supervised_pre_training_flat_objects_wo_logos/supervised_pre_training_flat_objects_wo_logos-parallel_train_episode_001_cube/pretrained
logger initialized
New primary target: {'euler_rotation': array([0, 0, 0]),
 'object': '006_disk',
 '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: 006_disk
Sending input from ['patch_0'] to learning_module_0
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_0 to no_match
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: []
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Going into exploratory mode after 1 steps

---Updating memory of learning_module_0---
006_disk not in memory ([])
Adding a new graph to memory.
init object model with id 006_disk
building graph from 109 observations
built graph <tbp.monty.frameworks.utils.object_model_utils.NumpyGraph object at 0x7516a15f14c0>
Added new graph with id 006_disk to memory.
Model for 006_disk:
   Contains 109 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': '006_disk',
 '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: 006_disk
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.8
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 218 out of 218 hypotheses for 006_disk (evidence > 0.7258556361044134)
current most likely hypothesis: 006_disk with evidence -0.2
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 2 ---
Going into exploratory mode after 2 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 17 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 126 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': '006_disk',
 '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: 006_disk
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: ['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 1008 out of 1008 hypotheses for 006_disk (evidence > 0.6241594716556991)
current most likely hypothesis: 006_disk with evidence 2.46
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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -0.37584052834430093)
current most likely hypothesis: 006_disk with evidence 3.88
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -1.375840528344301)
current most likely hypothesis: 006_disk with evidence 5.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -2.375840528344301)
current most likely hypothesis: 006_disk with evidence 6.82
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
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -3.375840528344301)
current most likely hypothesis: 006_disk with evidence 8.3
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 1008 out of 1008 hypotheses for 006_disk (evidence > -4.375840528344301)
current most likely hypothesis: 006_disk with evidence 9.77
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 1008 out of 1008 hypotheses for 006_disk (evidence > -5.375840528344301)
current most likely hypothesis: 006_disk with evidence 11.22
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 1008 out of 1008 hypotheses for 006_disk (evidence > -6.375840528344301)
current most likely hypothesis: 006_disk with evidence 12.7
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
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 1008 out of 1008 hypotheses for 006_disk (evidence > -7.375840528344301)
current most likely hypothesis: 006_disk with evidence 14.14
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 1008 out of 1008 hypotheses for 006_disk (evidence > -8.375840528344302)
current most likely hypothesis: 006_disk with evidence 15.62
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 1008 out of 1008 hypotheses for 006_disk (evidence > -9.375840528344302)
current most likely hypothesis: 006_disk with evidence 17.1
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 1008 out of 1008 hypotheses for 006_disk (evidence > -10.375840528344302)
current most likely hypothesis: 006_disk with evidence 16.1
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
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 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -11.375840528344302)
current most likely hypothesis: 006_disk with evidence 15.1
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 ---
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 1008 out of 1008 hypotheses for 006_disk (evidence > -12.375840528344302)
current most likely hypothesis: 006_disk with evidence 16.6
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 1008 out of 1008 hypotheses for 006_disk (evidence > -13.375840528344302)
current most likely hypothesis: 006_disk with evidence 18.05
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
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 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -14.375840528344302)
current most likely hypothesis: 006_disk with evidence 19.51
Skipping step on learning module 1
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
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 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 1008 out of 1008 hypotheses for 006_disk (evidence > -15.375840528344302)
current most likely hypothesis: 006_disk with evidence 20.99
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [0.01820174 1.4937718  0.00250061]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [0.018 1.494 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 18 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 109 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 235 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': '006_disk',
 '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: 006_disk
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: ['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 470 out of 470 hypotheses for 006_disk (evidence > 0.7262865335757344)
current most likely hypothesis: 006_disk with evidence 2.94
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 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 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 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 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 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 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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -0.27371346642426564)
current most likely hypothesis: 006_disk with evidence 4.87
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -1.2737134664242658)
current most likely hypothesis: 006_disk with evidence 6.81
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -2.2737134664242658)
current most likely hypothesis: 006_disk with evidence 8.78
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
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -3.2737134664242658)
current most likely hypothesis: 006_disk with evidence 10.76
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
Sending input from ['patch_1'] to learning_module_1
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
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -4.273713466424265)
current most likely hypothesis: 006_disk with evidence 12.72
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -5.273713466424265)
current most likely hypothesis: 006_disk with evidence 14.7
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -6.273713466424265)
current most likely hypothesis: 006_disk with evidence 16.7
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 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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -7.273713466424265)
current most likely hypothesis: 006_disk with evidence 18.69
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: ['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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 470 out of 470 hypotheses for 006_disk (evidence > -8.273713466424265)
current most likely hypothesis: 006_disk with evidence 20.67
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 12 ---
all possible locations are in radius 0.1 of [-5.87059573e-02  1.49996958e+00  3.17461736e-05]
Pose for learning_module_0 not narrowed down yet
Setting terminal state of 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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -9.273713466424265)
current most likely hypothesis: 006_disk with evidence 22.63
Sending input from ['patch_1', 'learning_module_0'] to learning_module_1
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 13 ---
all possible locations are in radius 0.1 of [-5.79473469e-02  1.49997036e+00  3.17455634e-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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -10.273713466424265)
current most likely hypothesis: 006_disk with evidence 24.57
Sending input from ['patch_1', 'learning_module_0'] to learning_module_1
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 14 ---
all possible locations are in radius 0.1 of [-5.79463727e-02  1.49997036e+00  3.17455627e-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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -11.273713466424265)
current most likely hypothesis: 006_disk with evidence 23.57
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 15 ---
all possible locations are in radius 0.1 of [-5.79447158e-02  1.49997037e+00  3.17455613e-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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 16 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -12.273713466424265)
current most likely hypothesis: 006_disk with evidence 25.55
Sending input from ['patch_1', 'learning_module_0'] to learning_module_1
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 16 ---
all possible locations are in radius 0.1 of [-5.66881689e-02  1.49997166e+00  3.17445508e-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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 470 out of 470 hypotheses for 006_disk (evidence > -13.273713466424265)
current most likely hypothesis: 006_disk with evidence 27.5
Sending input from ['patch_1', 'learning_module_0'] to learning_module_1
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 ---
all possible locations are in radius 0.1 of [-5.66755908e-02  1.49997167e+00  3.17445406e-05]
added symmetry evidence
Symmetry detected for hypotheses [ 34 269]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.057  1.48  -0.002], rotation [130.434  90.    130.434], 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 17 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 17 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 252 points in graph.
   Feature grid shape: torch.Size([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': '006_disk',
 '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: 006_disk
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.94
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 006_disk (evidence > 0.6758874880276479)
current most likely hypothesis: 006_disk with evidence 2.61
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 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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 006_disk (evidence > -0.32411251197235214)
current most likely hypothesis: 006_disk with evidence 1.62
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 006_disk (evidence > -1.324112511972352)
current most likely hypothesis: 006_disk with evidence 3.41
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
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: ['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
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 006_disk (evidence > -2.324112511972352)
current most likely hypothesis: 006_disk with evidence 5.33
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -3.324112511972352)
current most likely hypothesis: 006_disk with evidence 7.22
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -4.324112511972352)
current most likely hypothesis: 006_disk with evidence 6.24
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -5.324112511972352)
current most likely hypothesis: 006_disk with evidence 8.14
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -6.324112511972352)
current most likely hypothesis: 006_disk with evidence 10.06
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -7.324112511972352)
current most likely hypothesis: 006_disk with evidence 11.97
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 504 out of 504 hypotheses for 006_disk (evidence > -8.324112511972352)
current most likely hypothesis: 006_disk with evidence 10.97
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
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 504 out of 504 hypotheses for 006_disk (evidence > -9.324112511972352)
current most likely hypothesis: 006_disk with evidence 9.97
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
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---
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 14 ---

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 12 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 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 4 to 5 of 14
New primary target: {'euler_rotation': array([ 90, 180,   0]),
 'object': '006_disk',
 '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: 006_disk
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: ['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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > 0.7175412004367763)
current most likely hypothesis: 006_disk with evidence 2.95
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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 528 out of 528 hypotheses for 006_disk (evidence > -0.28245879956322373)
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 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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -1.2824587995632237)
current most likely hypothesis: 006_disk with evidence 6.78
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 528 out of 528 hypotheses for 006_disk (evidence > -2.2824587995632237)
current most likely hypothesis: 006_disk with evidence 8.7
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
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 528 out of 528 hypotheses for 006_disk (evidence > -3.2824587995632237)
current most likely hypothesis: 006_disk with evidence 10.62
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -4.282458799563224)
current most likely hypothesis: 006_disk with evidence 12.55
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -5.282458799563224)
current most likely hypothesis: 006_disk with evidence 14.47
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -6.282458799563224)
current most likely hypothesis: 006_disk with evidence 16.4
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 528 out of 528 hypotheses for 006_disk (evidence > -7.282458799563224)
current most likely hypothesis: 006_disk with evidence 15.4
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -8.282458799563223)
current most likely hypothesis: 006_disk with evidence 14.4
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 ---
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 528 out of 528 hypotheses for 006_disk (evidence > -9.282458799563223)
current most likely hypothesis: 006_disk with evidence 13.58
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
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---
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 13 ---

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 12 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 276 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593,  0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, 0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.92
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: ['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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2208 out of 2208 hypotheses for 006_disk (evidence > 0.564326009782482)
current most likely hypothesis: 006_disk with evidence 2.34
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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2208 out of 2208 hypotheses for 006_disk (evidence > -0.43567399021751796)
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 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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2208 out of 2208 hypotheses for 006_disk (evidence > -1.435673990217518)
current most likely hypothesis: 006_disk with evidence 2.74
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 2208 out of 2208 hypotheses for 006_disk (evidence > -2.435673990217518)
current most likely hypothesis: 006_disk with evidence 4.17
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
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2208 out of 2208 hypotheses for 006_disk (evidence > -3.435673990217518)
current most likely hypothesis: 006_disk with evidence 3.17
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 2208 out of 2208 hypotheses for 006_disk (evidence > -4.435673990217518)
current most likely hypothesis: 006_disk with evidence 2.17
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 ---
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 2208 out of 2208 hypotheses for 006_disk (evidence > -5.435673990217518)
current most likely hypothesis: 006_disk with evidence 1.17
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 2208 out of 2208 hypotheses for 006_disk (evidence > -6.435673990217518)
current most likely hypothesis: 006_disk with evidence 0.17
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 2208 out of 2208 hypotheses for 006_disk (evidence > -7.435673990217518)
current most likely hypothesis: 006_disk 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 10 ---
Going into exploratory mode after 10 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 99 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 375 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.27781593, -0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, 0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3000 out of 3000 hypotheses for 006_disk (evidence > 0.34179351361397636)
current most likely hypothesis: 006_disk with evidence 2.49
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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3000 out of 3000 hypotheses for 006_disk (evidence > -0.6582064863860236)
current most likely hypothesis: 006_disk with evidence 3.84
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3000 out of 3000 hypotheses for 006_disk (evidence > -1.6582064863860237)
current most likely hypothesis: 006_disk with evidence 2.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3000 out of 3000 hypotheses for 006_disk (evidence > -2.6582064863860237)
current most likely hypothesis: 006_disk with evidence 1.9
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 3000 out of 3000 hypotheses for 006_disk (evidence > -3.6582064863860237)
current most likely hypothesis: 006_disk with evidence 0.9
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 3000 out of 3000 hypotheses for 006_disk (evidence > -4.658206486386024)
current most likely hypothesis: 006_disk with evidence -0.1
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---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 96 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 466 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593,  0.36497168, -0.11507513, -0.88111957]),
 'rotation': quaternion(-0.881119570605362, -0.277815933469441, 0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > 0.27606442577030804)
current most likely hypothesis: 006_disk with evidence 2.4
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 3728 out of 3728 hypotheses for 006_disk (evidence > -0.723935574229692)
current most likely hypothesis: 006_disk with evidence 3.6
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -1.723935574229692)
current most likely hypothesis: 006_disk with evidence 2.87
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -2.7239355742296922)
current most likely hypothesis: 006_disk with evidence 4.08
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
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -3.7239355742296922)
current most likely hypothesis: 006_disk with evidence 3.08
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 3728 out of 3728 hypotheses for 006_disk (evidence > -4.723935574229692)
current most likely hypothesis: 006_disk with evidence 4.51
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 3728 out of 3728 hypotheses for 006_disk (evidence > -5.723935574229692)
current most likely hypothesis: 006_disk with evidence 3.51
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 3728 out of 3728 hypotheses for 006_disk (evidence > -6.723935574229692)
current most likely hypothesis: 006_disk with evidence 4.89
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 3728 out of 3728 hypotheses for 006_disk (evidence > -7.723935574229692)
current most likely hypothesis: 006_disk with evidence 3.89
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
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -8.723935574229692)
current most likely hypothesis: 006_disk with evidence 2.89
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 3728 out of 3728 hypotheses for 006_disk (evidence > -9.723935574229692)
current most likely hypothesis: 006_disk with evidence 1.89
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 3728 out of 3728 hypotheses for 006_disk (evidence > -10.723935574229692)
current most likely hypothesis: 006_disk with evidence 0.89
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 3728 out of 3728 hypotheses for 006_disk (evidence > -11.723935574229692)
current most likely hypothesis: 006_disk with evidence 0.21
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
Sending input from ['patch_1'] to learning_module_1
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 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 3728 out of 3728 hypotheses for 006_disk (evidence > -12.723935574229692)
current most likely hypothesis: 006_disk with evidence 1.62
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
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 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -13.723935574229692)
current most likely hypothesis: 006_disk with evidence 3.06
Skipping step on learning module 1
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
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 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -14.723935574229692)
current most likely hypothesis: 006_disk with evidence 2.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -15.723935574229692)
current most likely hypothesis: 006_disk with evidence 1.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 3728 out of 3728 hypotheses for 006_disk (evidence > -16.723935574229692)
current most likely hypothesis: 006_disk with evidence 0.06
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 3728 out of 3728 hypotheses for 006_disk (evidence > -17.723935574229692)
current most likely hypothesis: 006_disk with evidence -0.94
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---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 103 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 565 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.27781593, -0.36497168, -0.11507513,  0.88111957]),
 'rotation': quaternion(0.881119570605362, -0.277815933469441, -0.364971676217099, -0.115075127486384),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
Sending input from ['patch_0'] to learning_module_0
current most likely hypothesis: 006_disk with evidence 0.98
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > 0.3907731547903715)
current most likely hypothesis: 006_disk with evidence 2.44
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 4520 out of 4520 hypotheses for 006_disk (evidence > -0.6092268452096286)
current most likely hypothesis: 006_disk with evidence 3.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -1.6092268452096286)
current most likely hypothesis: 006_disk with evidence 2.89
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -2.6092268452096286)
current most likely hypothesis: 006_disk with evidence 4.03
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
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 6 ---
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -3.6092268452096286)
current most likely hypothesis: 006_disk with evidence 3.2
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 4520 out of 4520 hypotheses for 006_disk (evidence > -4.609226845209628)
current most likely hypothesis: 006_disk with evidence 4.54
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
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -5.609226845209628)
current most likely hypothesis: 006_disk with evidence 3.54
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 4520 out of 4520 hypotheses for 006_disk (evidence > -6.609226845209628)
current most likely hypothesis: 006_disk with evidence 2.54
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 4520 out of 4520 hypotheses for 006_disk (evidence > -7.609226845209628)
current most likely hypothesis: 006_disk with evidence 3.89
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
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -8.609226845209628)
current most likely hypothesis: 006_disk with evidence 2.89
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
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -9.609226845209628)
current most likely hypothesis: 006_disk with evidence 1.89
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 4520 out of 4520 hypotheses for 006_disk (evidence > -10.609226845209628)
current most likely hypothesis: 006_disk with evidence 0.89
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
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 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 4520 out of 4520 hypotheses for 006_disk (evidence > -11.609226845209628)
current most likely hypothesis: 006_disk with evidence -0.11
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 14 ---
Going into exploratory mode after 14 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 100 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 659 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513,  0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, 0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > 0.38369401123931757)
current most likely hypothesis: 006_disk with evidence 2.47
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 5272 out of 5272 hypotheses for 006_disk (evidence > -0.6163059887606824)
current most likely hypothesis: 006_disk with evidence 3.88
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -1.6163059887606823)
current most likely hypothesis: 006_disk with evidence 4.95
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -2.6163059887606823)
current most likely hypothesis: 006_disk with evidence 4.25
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
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 6 ---
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -3.6163059887606823)
current most likely hypothesis: 006_disk with evidence 5.5
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 5272 out of 5272 hypotheses for 006_disk (evidence > -4.616305988760683)
current most likely hypothesis: 006_disk with evidence 4.59
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
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -5.616305988760683)
current most likely hypothesis: 006_disk with evidence 3.81
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 5272 out of 5272 hypotheses for 006_disk (evidence > -6.616305988760683)
current most likely hypothesis: 006_disk with evidence 4.99
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 5272 out of 5272 hypotheses for 006_disk (evidence > -7.616305988760683)
current most likely hypothesis: 006_disk with evidence 3.99
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
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -8.616305988760683)
current most likely hypothesis: 006_disk with evidence 3.22
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
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -9.616305988760683)
current most likely hypothesis: 006_disk with evidence 2.22
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 5272 out of 5272 hypotheses for 006_disk (evidence > -10.616305988760683)
current most likely hypothesis: 006_disk with evidence 3.39
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
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 14 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -11.616305988760683)
current most likely hypothesis: 006_disk with evidence 2.39
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 5272 out of 5272 hypotheses for 006_disk (evidence > -12.616305988760683)
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 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 ---
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 5272 out of 5272 hypotheses for 006_disk (evidence > -13.616305988760683)
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 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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -14.616305988760683)
current most likely hypothesis: 006_disk with evidence 4.18
Skipping step on learning module 1
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 5272 out of 5272 hypotheses for 006_disk (evidence > -15.616305988760683)
current most likely hypothesis: 006_disk with evidence 5.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 5272 out of 5272 hypotheses for 006_disk (evidence > -16.616305988760683)
current most likely hypothesis: 006_disk with evidence 4.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 5272 out of 5272 hypotheses for 006_disk (evidence > -17.616305988760683)
current most likely hypothesis: 006_disk with evidence 3.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 5272 out of 5272 hypotheses for 006_disk (evidence > -18.616305988760683)
current most likely hypothesis: 006_disk with evidence 2.64
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 5272 out of 5272 hypotheses for 006_disk (evidence > -19.616305988760683)
current most likely hypothesis: 006_disk with evidence 1.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 5272 out of 5272 hypotheses for 006_disk (evidence > -20.616305988760683)
current most likely hypothesis: 006_disk with evidence 0.64
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 5272 out of 5272 hypotheses for 006_disk (evidence > -21.616305988760683)
current most likely hypothesis: 006_disk with evidence -0.36
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---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 101 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 760 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([ 0.11507513, -0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, 0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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: ['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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > 0.2534640522875815)
current most likely hypothesis: 006_disk with evidence 2.49
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 6080 out of 6080 hypotheses for 006_disk (evidence > -0.7465359477124185)
current most likely hypothesis: 006_disk with evidence 3.91
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -1.7465359477124185)
current most likely hypothesis: 006_disk with evidence 5.04
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -2.7465359477124185)
current most likely hypothesis: 006_disk with evidence 4.34
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
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 6 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -3.7465359477124185)
current most likely hypothesis: 006_disk with evidence 5.3
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 6080 out of 6080 hypotheses for 006_disk (evidence > -4.7465359477124185)
current most likely hypothesis: 006_disk with evidence 4.3
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 6080 out of 6080 hypotheses for 006_disk (evidence > -5.7465359477124185)
current most likely hypothesis: 006_disk with evidence 3.53
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 6080 out of 6080 hypotheses for 006_disk (evidence > -6.7465359477124185)
current most likely hypothesis: 006_disk with evidence 2.54
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 6080 out of 6080 hypotheses for 006_disk (evidence > -7.7465359477124185)
current most likely hypothesis: 006_disk with evidence 3.92
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
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -8.746535947712418)
current most likely hypothesis: 006_disk with evidence 2.92
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
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 6080 out of 6080 hypotheses for 006_disk (evidence > -9.746535947712418)
current most likely hypothesis: 006_disk with evidence 3.91
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 6080 out of 6080 hypotheses for 006_disk (evidence > -10.746535947712418)
current most likely hypothesis: 006_disk with evidence 5.36
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 6080 out of 6080 hypotheses for 006_disk (evidence > -11.746535947712418)
current most likely hypothesis: 006_disk with evidence 4.36
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
Sending input from ['patch_1'] to learning_module_1
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 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 6080 out of 6080 hypotheses for 006_disk (evidence > -12.746535947712418)
current most likely hypothesis: 006_disk with evidence 3.36
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
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 17 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -13.746535947712418)
current most likely hypothesis: 006_disk with evidence 2.36
Skipping step on learning module 1
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
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 18 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -14.746535947712418)
current most likely hypothesis: 006_disk with evidence 1.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 19 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -15.746535947712418)
current most likely hypothesis: 006_disk with evidence 0.36
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6080 out of 6080 hypotheses for 006_disk (evidence > -16.746535947712417)
current most likely hypothesis: 006_disk 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 20 ---
Going into exploratory mode after 20 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 104 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 860 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513,  0.88111957, -0.27781593, -0.36497168]),
 'rotation': quaternion(-0.364971676217099, -0.115075127486384, 0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 1 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > 0.3720383036935707)
current most likely hypothesis: 006_disk with evidence 2.48
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 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -0.6279616963064293)
current most likely hypothesis: 006_disk with evidence 3.89
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -1.6279616963064294)
current most likely hypothesis: 006_disk with evidence 5.27
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -2.6279616963064294)
current most likely hypothesis: 006_disk with evidence 6.71
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 6880 out of 6880 hypotheses for 006_disk (evidence > -3.6279616963064294)
current most likely hypothesis: 006_disk with evidence 8.18
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
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -4.627961696306429)
current most likely hypothesis: 006_disk with evidence 9.63
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
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -5.627961696306429)
current most likely hypothesis: 006_disk with evidence 11.1
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 6880 out of 6880 hypotheses for 006_disk (evidence > -6.627961696306429)
current most likely hypothesis: 006_disk with evidence 12.5
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -7.627961696306429)
current most likely hypothesis: 006_disk with evidence 13.96
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 ---
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 6880 out of 6880 hypotheses for 006_disk (evidence > -8.627961696306429)
current most likely hypothesis: 006_disk with evidence 15.4
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -9.627961696306429)
current most likely hypothesis: 006_disk with evidence 16.84
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
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 13 ---
Sending input from ['patch_0'] to learning_module_0
Testing 6880 out of 6880 hypotheses for 006_disk (evidence > -10.627961696306429)
current most likely hypothesis: 006_disk with evidence 18.3
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 6880 out of 6880 hypotheses for 006_disk (evidence > -11.627961696306429)
current most likely hypothesis: 006_disk with evidence 19.75
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 6880 out of 6880 hypotheses for 006_disk (evidence > -12.627961696306429)
current most likely hypothesis: 006_disk 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: ['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 6880 out of 6880 hypotheses for 006_disk (evidence > -13.627961696306429)
current most likely hypothesis: 006_disk with evidence 17.75
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 6880 out of 6880 hypotheses for 006_disk (evidence > -14.627961696306429)
current most likely hypothesis: 006_disk with evidence 19.18
Skipping step on learning module 1
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 6880 out of 6880 hypotheses for 006_disk (evidence > -15.627961696306429)
current most likely hypothesis: 006_disk with evidence 20.63
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 18 ---
all possible locations are in radius 0.1 of [-0.02571458  1.4877873   0.00249627]
Setting terminal state of learning_module_0 to match
learning_module_0: Detected 006_disk at location [-0.026  1.488  0.002], rotation [325.353 314.755 268.936], 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 18 steps

---Updating memory of learning_module_0---
006_disk already in memory (['006_disk'])
Updating existing graph for 006_disk
adding 97 observations
Extended graph 006_disk with new points. New model:
{'patch_0': Model for 006_disk:
   Contains 952 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': '006_disk',
 'position': [0.0, 1.5, 0.0],
 'quat_rotation': array([-0.11507513, -0.88111957, -0.27781593,  0.36497168]),
 'rotation': quaternion(0.364971676217099, -0.115075127486384, -0.881119570605362, -0.277815933469441),
 'scale': [1.0, 1.0, 1.0],
 'semantic_id': 1}
Running a simulation to model object: 006_disk
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: ['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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > 0.2653785430256017)
current most likely hypothesis: 006_disk with evidence 2.48
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 7616 out of 7616 hypotheses for 006_disk (evidence > -0.7346214569743983)
current most likely hypothesis: 006_disk with evidence 3.84
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 3 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -1.7346214569743983)
current most likely hypothesis: 006_disk with evidence 5.31
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 5 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -2.7346214569743985)
current most likely hypothesis: 006_disk with evidence 4.31
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 7616 out of 7616 hypotheses for 006_disk (evidence > -3.7346214569743985)
current most likely hypothesis: 006_disk with evidence 5.56
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 7616 out of 7616 hypotheses for 006_disk (evidence > -4.7346214569743985)
current most likely hypothesis: 006_disk with evidence 6.68
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
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -5.7346214569743985)
current most likely hypothesis: 006_disk with evidence 8.04
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 7616 out of 7616 hypotheses for 006_disk (evidence > -6.7346214569743985)
current most likely hypothesis: 006_disk with evidence 7.04
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 7616 out of 7616 hypotheses for 006_disk (evidence > -7.7346214569743985)
current most likely hypothesis: 006_disk with evidence 8.39
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 7616 out of 7616 hypotheses for 006_disk (evidence > -8.734621456974399)
current most likely hypothesis: 006_disk with evidence 7.57
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 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -9.734621456974399)
current most likely hypothesis: 006_disk with evidence 6.57
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 7616 out of 7616 hypotheses for 006_disk (evidence > -10.734621456974399)
current most likely hypothesis: 006_disk with evidence 5.57
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 7616 out of 7616 hypotheses for 006_disk (evidence > -11.734621456974399)
current most likely hypothesis: 006_disk with evidence 4.57
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: ['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 7616 out of 7616 hypotheses for 006_disk (evidence > -12.734621456974399)
current most likely hypothesis: 006_disk with evidence 3.57
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 7616 out of 7616 hypotheses for 006_disk (evidence > -13.734621456974399)
current most likely hypothesis: 006_disk with evidence 2.57
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 7616 out of 7616 hypotheses for 006_disk (evidence > -14.734621456974399)
current most likely hypothesis: 006_disk with evidence 1.57
Skipping step on learning module 1
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
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: ['006_disk']
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 7616 out of 7616 hypotheses for 006_disk (evidence > -15.734621456974399)
current most likely hypothesis: 006_disk with evidence 2.98
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 20 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -16.7346214569744)
current most likely hypothesis: 006_disk with evidence 4.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 21 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -17.7346214569744)
current most likely hypothesis: 006_disk with evidence 3.37
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 22 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -18.7346214569744)
current most likely hypothesis: 006_disk with evidence 4.75
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 23 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -19.7346214569744)
current most likely hypothesis: 006_disk with evidence 6.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 24 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -20.7346214569744)
current most likely hypothesis: 006_disk with evidence 5.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 25 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -21.7346214569744)
current most likely hypothesis: 006_disk with evidence 4.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 7616 out of 7616 hypotheses for 006_disk (evidence > -22.7346214569744)
current most likely hypothesis: 006_disk with evidence 3.14
Sending input from ['patch_1'] to learning_module_1
no objects in memory yet.
current most likely hypothesis: new_object0 with evidence 0
Setting terminal state of learning_module_1 to no_match
Possible matches for learning_module_0: ['006_disk']
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 7616 out of 7616 hypotheses for 006_disk (evidence > -23.7346214569744)
current most likely hypothesis: 006_disk with evidence 2.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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: ['006_disk']
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: ['006_disk']
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: ['006_disk']
Possible matches for learning_module_1: []
--- Global Matching Step 28 ---
Sending input from ['patch_0'] to learning_module_0
Testing 7616 out of 7616 hypotheses for 006_disk (evidence > -24.7346214569744)
current most likely hypothesis: 006_disk with evidence 1.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 7616 out of 7616 hypotheses for 006_disk (evidence > -25.7346214569744)
current most likely hypothesis: 006_disk with evidence 0.14
Skipping step on learning module 1
Possible matches for learning_module_0: ['006_disk']
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 7616 out of 7616 hypotheses for 006_disk (evidence > -26.7346214569744)
current most likely hypothesis: 006_disk 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 30 ---
Going into exploratory mode after 30 steps

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

---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': '006_disk',
 '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_flat_objects_wo_logos/supervised_pre_training_flat_objects_wo_logos-parallel_train_episode_006_disk/pretrained
