Last location distribution:
Last location: (0, 0), prob: 0.25000000
Last location: (0, 1), prob: 0.25000000
Last location: (1, 0), prob: 0.25000000
Last location: (1, 1), prob: 0.25000000

Current location distribution:
Last location: (0, 0)
  Current location: (1, 0), prob: 0.50000000
  Current location: (0, 1), prob: 0.50000000
Last location: (0, 1)
  Current location: (0, 0), prob: 0.50000000
  Current location: (1, 1), prob: 0.50000000
Last location: (1, 0)
  Current location: (0, 0), prob: 0.50000000
  Current location: (1, 1), prob: 0.50000000
Last location: (1, 1)
  Current location: (0, 1), prob: 0.50000000
  Current location: (1, 0), prob: 0.50000000

Motion sensor #1 (top left) distribution
Current location: (0, 0), true prob: 0.90000000, false prob: 0.10000000
Current location: (0, 1), true prob: 0.80000000, false prob: 0.20000000
Current location: (1, 0), true prob: 0.80000000, false prob: 0.20000000
Current location: (1, 1), true prob: 0.05000000, false prob: 0.95000000

Motion sensor #2 (bottom right) distribution
Current location: (0, 0), true prob: 0.05000000, false prob: 0.95000000
Current location: (0, 1), true prob: 0.80000000, false prob: 0.20000000
Current location: (1, 0), true prob: 0.80000000, false prob: 0.20000000
Current location: (1, 1), true prob: 0.90000000, false prob: 0.10000000

Sound distribution:
Current location: (0, 0)
  Sound reported at: (0, 0), prob: 0.60000000
  Sound reported at: (1, 0), prob: 0.15000000
  Sound reported at: (0, 1), prob: 0.15000000
  Sound reported at: (1, 1), prob: 0.10000000
Current location: (0, 1)
  Sound reported at: (0, 1), prob: 0.60000000
  Sound reported at: (0, 0), prob: 0.15000000
  Sound reported at: (1, 1), prob: 0.15000000
  Sound reported at: (1, 0), prob: 0.10000000
Current location: (1, 0)
  Sound reported at: (1, 0), prob: 0.60000000
  Sound reported at: (0, 0), prob: 0.15000000
  Sound reported at: (1, 1), prob: 0.15000000
  Sound reported at: (0, 1), prob: 0.10000000
Current location: (1, 1)
  Sound reported at: (1, 1), prob: 0.60000000
  Sound reported at: (0, 1), prob: 0.15000000
  Sound reported at: (1, 0), prob: 0.15000000
  Sound reported at: (0, 0), prob: 0.10000000

Initial distribution of monkey's last location:
  0.25000000  0.25000000
  0.25000000  0.25000000

Observation: Motion1: True, Motion2: True, Sound location: (0, 1)
Monkey's predicted current location at time step: 0
  Calculating total prob for current location (0, 0)
    Probs being multiplied for last location (0, 0): 0.25 0 0.9 0.05 0.15
    Probs being multiplied for last location (0, 1): 0.25 0.5 0.9 0.05 0.15
    Probs being multiplied for last location (1, 0): 0.25 0.5 0.9 0.05 0.15
    Probs being multiplied for last location (1, 1): 0.25 0 0.9 0.05 0.15
  Calculating total prob for current location (0, 1)
    Probs being multiplied for last location (0, 0): 0.25 0.5 0.8 0.8 0.6
    Probs being multiplied for last location (0, 1): 0.25 0 0.8 0.8 0.6
    Probs being multiplied for last location (1, 0): 0.25 0 0.8 0.8 0.6
    Probs being multiplied for last location (1, 1): 0.25 0.5 0.8 0.8 0.6
  Calculating total prob for current location (1, 0)
    Probs being multiplied for last location (0, 0): 0.25 0.5 0.8 0.8 0.1
    Probs being multiplied for last location (0, 1): 0.25 0 0.8 0.8 0.1
    Probs being multiplied for last location (1, 0): 0.25 0 0.8 0.8 0.1
    Probs being multiplied for last location (1, 1): 0.25 0.5 0.8 0.8 0.1
  Calculating total prob for current location (1, 1)
    Probs being multiplied for last location (0, 0): 0.25 0 0.05 0.9 0.15
    Probs being multiplied for last location (0, 1): 0.25 0.5 0.05 0.9 0.15
    Probs being multiplied for last location (1, 0): 0.25 0.5 0.05 0.9 0.15
    Probs being multiplied for last location (1, 1): 0.25 0 0.05 0.9 0.15

Before normalization:
  0.00168750  0.09600000
  0.01600000  0.00168750

After normalization:
  0.01462622  0.83206934
  0.13867822  0.01462622

Observation: Motion1: False, Motion2: True, Sound location: (1, 1)
Monkey's predicted current location at time step: 1
  Calculating total prob for current location (0, 0)
    Probs being multiplied for last location (0, 0): 0.01462621885157096424702058505 0 0.1 0.05 0.1
    Probs being multiplied for last location (0, 1): 0.8320693391115926327193932828 0.5 0.1 0.05 0.1
    Probs being multiplied for last location (1, 0): 0.1386782231852654387865655471 0.5 0.1 0.05 0.1
    Probs being multiplied for last location (1, 1): 0.01462621885157096424702058505 0 0.1 0.05 0.1
  Calculating total prob for current location (0, 1)
    Probs being multiplied for last location (0, 0): 0.01462621885157096424702058505 0.5 0.2 0.8 0.15
    Probs being multiplied for last location (0, 1): 0.8320693391115926327193932828 0 0.2 0.8 0.15
    Probs being multiplied for last location (1, 0): 0.1386782231852654387865655471 0 0.2 0.8 0.15
    Probs being multiplied for last location (1, 1): 0.01462621885157096424702058505 0.5 0.2 0.8 0.15
  Calculating total prob for current location (1, 0)
    Probs being multiplied for last location (0, 0): 0.01462621885157096424702058505 0.5 0.2 0.8 0.15
    Probs being multiplied for last location (0, 1): 0.8320693391115926327193932828 0 0.2 0.8 0.15
    Probs being multiplied for last location (1, 0): 0.1386782231852654387865655471 0 0.2 0.8 0.15
    Probs being multiplied for last location (1, 1): 0.01462621885157096424702058505 0.5 0.2 0.8 0.15
  Calculating total prob for current location (1, 1)
    Probs being multiplied for last location (0, 0): 0.01462621885157096424702058505 0 0.95 0.9 0.6
    Probs being multiplied for last location (0, 1): 0.8320693391115926327193932828 0.5 0.95 0.9 0.6
    Probs being multiplied for last location (1, 0): 0.1386782231852654387865655471 0.5 0.95 0.9 0.6
    Probs being multiplied for last location (1, 1): 0.01462621885157096424702058505 0 0.95 0.9 0.6

Before normalization:
  0.00024269  0.00035103
  0.00035103  0.24899675

After normalization:
  0.00097097  0.00140445
  0.00140445  0.99622013

Observation: Motion1: False, Motion2: False, Sound location: (1, 1)
Monkey's predicted current location at time step: 2
  Calculating total prob for current location (0, 0)
    Probs being multiplied for last location (0, 0): 0.0009709747893331483857544127340 0 0.1 0.95 0.1
    Probs being multiplied for last location (0, 1): 0.001404445677428303915109061276 0.5 0.1 0.95 0.1
    Probs being multiplied for last location (1, 0): 0.001404445677428303915109061276 0.5 0.1 0.95 0.1
    Probs being multiplied for last location (1, 1): 0.9962201338558102437840274647 0 0.1 0.95 0.1
  Calculating total prob for current location (0, 1)
    Probs being multiplied for last location (0, 0): 0.0009709747893331483857544127340 0.5 0.2 0.2 0.15
    Probs being multiplied for last location (0, 1): 0.001404445677428303915109061276 0 0.2 0.2 0.15
    Probs being multiplied for last location (1, 0): 0.001404445677428303915109061276 0 0.2 0.2 0.15
    Probs being multiplied for last location (1, 1): 0.9962201338558102437840274647 0.5 0.2 0.2 0.15
  Calculating total prob for current location (1, 0)
    Probs being multiplied for last location (0, 0): 0.0009709747893331483857544127340 0.5 0.2 0.2 0.15
    Probs being multiplied for last location (0, 1): 0.001404445677428303915109061276 0 0.2 0.2 0.15
    Probs being multiplied for last location (1, 0): 0.001404445677428303915109061276 0 0.2 0.2 0.15
    Probs being multiplied for last location (1, 1): 0.9962201338558102437840274647 0.5 0.2 0.2 0.15
  Calculating total prob for current location (1, 1)
    Probs being multiplied for last location (0, 0): 0.0009709747893331483857544127340 0 0.95 0.1 0.6
    Probs being multiplied for last location (0, 1): 0.001404445677428303915109061276 0.5 0.95 0.1 0.6
    Probs being multiplied for last location (1, 0): 0.001404445677428303915109061276 0.5 0.95 0.1 0.6
    Probs being multiplied for last location (1, 1): 0.9962201338558102437840274647 0 0.95 0.1 0.6

Before normalization:
  0.00001334  0.00299157
  0.00299157  0.00008005

After normalization:
  0.00219570  0.49231507
  0.49231507  0.01317417

Observation: Motion1: True, Motion2: False, Sound location: (1, 0)
Monkey's predicted current location at time step: 3
  Calculating total prob for current location (0, 0)
    Probs being multiplied for last location (0, 0): 0.002195695068032306250240756038 0 0.9 0.95 0.15
    Probs being multiplied for last location (0, 1): 0.4923150672618869281241573539 0.5 0.9 0.95 0.15
    Probs being multiplied for last location (1, 0): 0.4923150672618869281241573539 0.5 0.9 0.95 0.15
    Probs being multiplied for last location (1, 1): 0.01317417040819383750144453623 0 0.9 0.95 0.15
  Calculating total prob for current location (0, 1)
    Probs being multiplied for last location (0, 0): 0.002195695068032306250240756038 0.5 0.8 0.2 0.1
    Probs being multiplied for last location (0, 1): 0.4923150672618869281241573539 0 0.8 0.2 0.1
    Probs being multiplied for last location (1, 0): 0.4923150672618869281241573539 0 0.8 0.2 0.1
    Probs being multiplied for last location (1, 1): 0.01317417040819383750144453623 0.5 0.8 0.2 0.1
  Calculating total prob for current location (1, 0)
    Probs being multiplied for last location (0, 0): 0.002195695068032306250240756038 0.5 0.8 0.2 0.6
    Probs being multiplied for last location (0, 1): 0.4923150672618869281241573539 0 0.8 0.2 0.6
    Probs being multiplied for last location (1, 0): 0.4923150672618869281241573539 0 0.8 0.2 0.6
    Probs being multiplied for last location (1, 1): 0.01317417040819383750144453623 0.5 0.8 0.2 0.6
  Calculating total prob for current location (1, 1)
    Probs being multiplied for last location (0, 0): 0.002195695068032306250240756038 0 0.05 0.1 0.15
    Probs being multiplied for last location (0, 1): 0.4923150672618869281241573539 0.5 0.05 0.1 0.15
    Probs being multiplied for last location (1, 0): 0.4923150672618869281241573539 0.5 0.05 0.1 0.15
    Probs being multiplied for last location (1, 1): 0.01317417040819383750144453623 0 0.05 0.1 0.15

Before normalization:
  0.06313941  0.00012296
  0.00073775  0.00036924

After normalization:
  0.98089232  0.00191021
  0.01146125  0.00573621