Explanation of the code and each of the files I changed: 

Cube_Finder.fsm 
looks for cubes on either side of cozmos view. 
Cozmo will then turn to the cubes at +- 10 degrees
Cozmo should not react to non cube objects but does get confused with objects near the edge. 
Cozmo will say whether he sees a cube or not and the
print statements show the classification of each side of his view

Cube_Plott_Finder.fsm
looks for cubes on either side of cozmos view.
used for testing and experimenting with different scenes
plots an image of cozmos view and pauses until image window is closed
stacks the right side and the left to show each sides view. 
seems to have issues when running with show viewer (might be just my machine)

TakePictures.fsm
just added ability to make a seperate test set

test.py 
used to train the model and test the model with test sets
trained with 25 epochs and 10 random crop iterations through the common data set
achieved 99.6% accuracy after training and 93% on custom data set
most misclassifications were from lighting issues or other objects similar to the cubes
test_images(), and test_model() to test model with all images and individual instances
load_model() to load weights onto the cpu

cube_model.pt
best trained model, tested on cpu.