INFO:root:Logger initialized at 2025-09-28 11:58:22.158711
DEBUG:root:{'dataset_args': {'env_init_args': {'image_listen_port': 3000,
                                    'save_path': '/Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tbp_mug_inference/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F7F49279440,
                  'transform': None},
 'dataset_class': <class 'tbp.monty.frameworks.environments.embodied_data.EnvironmentDataset'>,
 'eval_dataloader_args': {'patch_size': 256},
 'eval_dataloader_class': <class 'custom_classes.dataloader.UltrasoundDataLoader'>,
 'experiment_args': {'do_eval': True,
                     'do_train': False,
                     'max_eval_steps': 50,
                     'max_total_steps': 6000,
                     'max_train_steps': 1000,
                     'min_lms_match': 1,
                     'model_name_or_path': '/Users/nleadholm/tbp/results/monty/pretrained_models/pretrained_ycb_v10/surf_agent_1lm_tbp_robot_lab/pretrained/',
                     'n_eval_epochs': 1,
                     'n_train_epochs': 3,
                     'python_log_level': 'DEBUG',
                     'seed': 42,
                     'show_sensor_output': False},
 'experiment_class': <class 'custom_classes.experiment.UltrasoundExperiment'>,
 'logging_config': {'log_parallel_wandb': False,
                    'monty_handlers': [],
                    'monty_log_level': 'SILENT',
                    'output_dir': '/Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tbp_mug_inference',
                    'python_log_level': 'DEBUG',
                    'python_log_to_file': True,
                    'python_log_to_stdout': True,
                    'resume_wandb_run': False,
                    'run_name': 'probe_triggered_data_collection_for_inference',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': 'vzq05uqe'},
 'monty_config': {'learning_module_configs': {'learning_module_0': {'learning_module_args': {'evidence_update_threshold': '80%',
                                                                                             'feature_weights': {},
                                                                                             'gsg_args': {'desired_object_distance': 0.06,
                                                                                                          'elapsed_steps_factor': 5,
                                                                                                          'goal_tolerances': {'location': 0.015},
                                                                                                          'min_post_goal_success_steps': 5,
                                                                                                          'x_percent_scale_factor': 0.75},
                                                                                             'gsg_class': <class 'tbp.monty.frameworks.models.goal_state_generation.EvidenceGoalStateGenerator'>,
                                                                                             'hypotheses_updater_args': {'max_nneighbors': 10},
                                                                                             'max_graph_size': 0.3,
                                                                                             'max_match_distance': 0.01,
                                                                                             'num_model_voxels_per_dim': 100,
                                                                                             'tolerances': {'patch': {'pose_vectors': array([0.87266463, 0.87266463, 0.87266463]),
                                                                                                                      'principal_curvatures_log': array([1., 1.])}},
                                                                                             'use_multithreading': False,
                                                                                             'x_percent_threshold': 20},
                                                                    'learning_module_class': <class 'tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM'>}},
                  'lm_to_lm_matrix': None,
                  'lm_to_lm_vote_matrix': None,
                  'monty_args': {'max_total_steps': 51,
                                 'min_eval_steps': 50,
                                 'min_train_steps': 3,
                                 'num_exploratory_steps': 200},
                  'monty_class': <class 'custom_classes.monty_class.MontyForEvidenceGraphMatchingWithGoalStateServer'>,
                  'motor_system_config': {'motor_system_args': {'policy_args': {'action_sampler_args': {'actions': [<class 'tbp.monty.frameworks.actions.actions.LookUp'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.LookDown'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnLeft'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnRight'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetAgentPose'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetSensorRotation'>],
                                                                                                        'rotation_degrees': 1.0},
                                                                                'action_sampler_class': <class 'tbp.monty.frameworks.actions.action_samplers.ConstantSampler'>,
                                                                                'agent_id': 'agent_id_0',
                                                                                'desired_object_distance': 0.03,
                                                                                'file_name': None,
                                                                                'good_view_percentage': 0.5,
                                                                                'min_perc_on_obj': 0.25,
                                                                                'switch_frequency': 1.0,
                                                                                'use_goal_state_driven_actions': True},
                                                                'policy_class': <class 'custom_classes.motor_policy.UltrasoundMotorPolicy'>},
                                          'motor_system_class': <class 'tbp.monty.frameworks.models.motor_system.MotorSystem'>},
                  'sensor_module_configs': {'sensor_module_0': {'sensor_module_args': {'sensor_module_id': 'patch'},
                                                                'sensor_module_class': <class 'custom_classes.sensor_module.UltrasoundSM'>}},
                  'sm_to_agent_dict': {'patch': 'agent_id_0'},
                  'sm_to_lm_matrix': [[0]]},
 'plotting_config': {'display_mlh_focus_plot': False,
                     'enabled': True,
                     'plot_frequency': 1,
                     'plot_patch_features': True,
                     'save_path': '/Users/nleadholm/tbp/data/ultrasound_data_collection/plots',
                     'show_hypothesis_space': True},
 'print_config': False,
 'quiet_habitat_logs': True}
INFO:root:Running single episode
DEBUG:root:Going into matching mode after 0 steps
DEBUG:root:Models in memory: ['numenta_mug', 'montys_brain', 'montys_heart', 'ramen_pack', 'hot_sauce', 'harissa_oil', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can']
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:we have not moved yet.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95590349,  0.16267347,  0.24451145],
       [-0.16776576,  0.98582689,  0.        ],
       [-0.24104596, -0.04102065,  0.9696464 ]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:54558 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79475528,  0.02411203, -0.60645086],
       [-0.03032499,  0.99954009,  0.        ],
       [ 0.60617195,  0.01839062,  0.79512097]]), 'pose_fully_defined': False}}, {'patch': array([-0.00947516,  0.00212375, -0.02688456])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.06 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.05 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:54558 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81034657,  0.0369322 , -0.58478581],
       [-0.04552855,  0.99896304,  0.        ],
       [ 0.58417941,  0.02662445,  0.81118774]]), 'pose_fully_defined': False}}, {'patch': array([-0.00145734,  0.01660268,  0.00234884])}]
INFO:root:Testing 6434 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.989
INFO:root:Testing 9703 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.964
INFO:root:Testing 9810 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 1.0
INFO:root:Testing 8330 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 1.0
INFO:root:Testing 7941 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 0.99
INFO:root:Testing 6981 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 0.997
INFO:root:Testing 9052 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 1.0
INFO:root:Testing 6784 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 1.0
INFO:root:Testing 5126 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 0.974
INFO:root:Testing 5177 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.0
INFO:root:current most likely hypothesis: montys_heart with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:54558 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78786063,  0.03570226, -0.61481784],
       [-0.04526899,  0.99897483,  0.        ],
       [ 0.61418755,  0.02783218,  0.78866915]]), 'pose_fully_defined': False}}, {'patch': array([-0.00369033,  0.01648567,  0.00035021])}]
INFO:root:Testing 4871 out of 14424 hypotheses for numenta_mug (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 1.479
INFO:root:Testing 8318 out of 10992 hypotheses for montys_brain (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 1.299
INFO:root:Testing 8465 out of 14880 hypotheses for montys_heart (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 1.464
INFO:root:Testing 5214 out of 23200 hypotheses for ramen_pack (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.489
INFO:root:Testing 5250 out of 14864 hypotheses for hot_sauce (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.481
INFO:root:Testing 5457 out of 12560 hypotheses for harissa_oil (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.479
INFO:root:Testing 6976 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 1.48
INFO:root:Testing 4546 out of 16976 hypotheses for mustard_bottle (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.468
INFO:root:Testing 3945 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.423
INFO:root:Testing 3112 out of 19024 hypotheses for potted_meat_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.467
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:54560 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19507458, -0.04083409,  0.979938  ],
       [ 0.2048849 , -0.97878607,  0.        ],
       [ 0.95914967,  0.2007745 ,  0.19930257]]), 'pose_fully_defined': False}}, {'patch': array([-0.02241641, -0.03248277,  0.05558874])}]
INFO:root:Testing 2383 out of 14424 hypotheses for numenta_mug (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 1.939
INFO:root:Testing 1624 out of 10992 hypotheses for montys_brain (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.725
INFO:root:Testing 3580 out of 14880 hypotheses for montys_heart (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 1.963
INFO:root:Testing 2522 out of 23200 hypotheses for ramen_pack (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.556
INFO:root:Testing 2271 out of 14864 hypotheses for hot_sauce (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.711
INFO:root:Testing 2026 out of 12560 hypotheses for harissa_oil (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.951
INFO:root:Testing 3115 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.953
INFO:root:Testing 2444 out of 16976 hypotheses for mustard_bottle (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.835
INFO:root:Testing 2021 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.688
INFO:root:Testing 1670 out of 19024 hypotheses for potted_meat_can (evidence > 0.29777459533472905)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.933
DEBUG:root:evidences for each object: [1.93920295 1.72523447 1.96335734 1.55649979 1.7113001  1.95138041
 1.95305778 1.83469403 1.68786265 1.93294195]
DEBUG:root:mean evidence: 1.826, std: 0.138 -> th=1.5706858733577196
INFO:root:current most likely hypothesis: montys_heart with evidence 1.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:54560 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.21193338, -0.04647465,  0.97617844],
       [ 0.21419927, -0.97678998,  0.        ],
       [ 0.95352133,  0.20909671,  0.21696924]]), 'pose_fully_defined': False}}, {'patch': array([0.00044985, 0.00592131, 0.00073764])}]
INFO:root:Testing 1985 out of 14424 hypotheses for numenta_mug (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 2.403
INFO:root:Testing 562 out of 10992 hypotheses for montys_brain (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.202
INFO:root:Testing 2127 out of 14880 hypotheses for montys_heart (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.455
INFO:root:Testing 558 out of 23200 hypotheses for ramen_pack (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.767
INFO:root:Testing 197 out of 14864 hypotheses for hot_sauce (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.196
INFO:root:Testing 1292 out of 12560 hypotheses for harissa_oil (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.412
INFO:root:Testing 2391 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.419
INFO:root:Testing 739 out of 16976 hypotheses for mustard_bottle (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.189
INFO:root:Testing 384 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.047
INFO:root:Testing 540 out of 19024 hypotheses for potted_meat_can (evidence > 0.3926714683394299)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.409
DEBUG:root:evidences for each object: [2.40282685 2.20167083 2.45460958 1.76703695 2.19584714 2.41235082
 2.41940347 2.18859013 2.0469345  2.40936474]
DEBUG:root:mean evidence: 2.25, std: 0.207 -> th=1.9636876640995786
INFO:root:current most likely hypothesis: montys_heart with evidence 2.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:54562 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97668294, -0.18508154,  0.10878998],
       [ 0.1861866 , -0.9825144 ,  0.        ],
       [ 0.10688773,  0.02025524,  0.99406476]]), 'pose_fully_defined': False}}, {'patch': array([-0.0289019 , -0.00984161, -0.03373732])}]
INFO:root:Testing 1877 out of 14424 hypotheses for numenta_mug (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 2.859
INFO:root:Testing 461 out of 10992 hypotheses for montys_brain (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.684
INFO:root:Testing 1869 out of 14880 hypotheses for montys_heart (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.898
INFO:root:Testing 274 out of 23200 hypotheses for ramen_pack (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.707
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.196
INFO:root:Testing 1137 out of 12560 hypotheses for harissa_oil (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.897
INFO:root:Testing 2252 out of 21832 hypotheses for tomato_soup_can (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.898
INFO:root:Testing 565 out of 16976 hypotheses for mustard_bottle (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.449
INFO:root:Testing 259 out of 17728 hypotheses for tuna_fish_can (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.782
INFO:root:Testing 456 out of 19024 hypotheses for potted_meat_can (evidence > 0.49092191602489454)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.631
DEBUG:root:evidences for each object: [2.85891108 2.68431814 2.89805071 1.70698116 1.19584714 2.89676419
 2.89798978 2.44856405 1.78237562 2.63087284]
DEBUG:root:mean evidence: 2.4, std: 0.583 -> th=2.3184405678755926
INFO:root:current most likely hypothesis: montys_heart with evidence 2.9
DEBUG:root:evidences for each object: [2.85891108 2.68431814 2.89805071 1.70698116 1.19584714 2.89676419
 2.89798978 2.44856405 1.78237562 2.63087284]
DEBUG:root:mean evidence: 2.4, std: 0.583 -> th=2.3184405678755926
DEBUG:root:evidences for each object: [2.85891108 2.68431814 2.89805071 1.70698116 1.19584714 2.89676419
 2.89798978 2.44856405 1.78237562 2.63087284]
DEBUG:root:mean evidence: 2.4, std: 0.583 -> th=2.463343103367817
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'tomato_soup_can', 'potted_meat_can', 'montys_brain', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:54564 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22029611,  0.01359788,  0.97533826],
       [-0.06160822, -0.99810041,  0.        ],
       [ 0.97348552, -0.06008886,  0.22071538]]), 'pose_fully_defined': False}}, {'patch': array([ 0.08135069, -0.01851355,  0.06301485])}]
INFO:root:Testing 1746 out of 14424 hypotheses for numenta_mug (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 2.478
INFO:root:Testing 385 out of 10992 hypotheses for montys_brain (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.684
INFO:root:Testing 1804 out of 14880 hypotheses for montys_heart (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 1.898
INFO:root:Testing 70 out of 23200 hypotheses for ramen_pack (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.707
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.49
INFO:root:Testing 994 out of 12560 hypotheses for harissa_oil (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.897
INFO:root:Testing 1906 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.898
INFO:root:Testing 350 out of 16976 hypotheses for mustard_bottle (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.449
INFO:root:Testing 120 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.782
INFO:root:Testing 272 out of 19024 hypotheses for potted_meat_can (evidence > 0.5796101419688982)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.631
DEBUG:root:evidences for each object: [2.4776027  1.68431814 1.89805071 0.70698116 0.49021616 1.89676419
 1.89798978 1.44856405 0.78237562 1.63087284]
DEBUG:root:mean evidence: 1.491, std: 0.604 -> th=1.9820821577107335
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.48
DEBUG:root:evidences for each object: [2.4776027  1.68431814 1.89805071 0.70698116 0.49021616 1.89676419
 1.89798978 1.44856405 0.78237562 1.63087284]
DEBUG:root:mean evidence: 1.491, std: 0.604 -> th=1.9820821577107335
DEBUG:root:evidences for each object: [2.4776027  1.68431814 1.89805071 0.70698116 0.49021616 1.89676419
 1.89798978 1.44856405 0.78237562 1.63087284]
DEBUG:root:mean evidence: 1.491, std: 0.604 -> th=2.1059622925676544
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:54565 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91597235, -0.0699912 ,  0.39508972],
       [ 0.07618981, -0.99709333,  0.        ],
       [ 0.39394132,  0.03010181,  0.91864254]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00813161,  0.00847152, -0.00553971])}]
INFO:root:Testing 1613 out of 14424 hypotheses for numenta_mug (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 1.478
INFO:root:Testing 240 out of 10992 hypotheses for montys_brain (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.684
INFO:root:Testing 1445 out of 14880 hypotheses for montys_heart (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.898
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.491
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.49
INFO:root:Testing 871 out of 12560 hypotheses for harissa_oil (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.897
INFO:root:Testing 1671 out of 21832 hypotheses for tomato_soup_can (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.898
INFO:root:Testing 153 out of 16976 hypotheses for mustard_bottle (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.495
INFO:root:Testing 47 out of 17728 hypotheses for tuna_fish_can (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.493
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 0.49552053942768337)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.631
DEBUG:root:evidences for each object: [1.4776027  0.68431814 0.89805071 0.49110835 0.49021616 0.89676419
 0.89798978 0.49464962 0.49327199 0.63087284]
DEBUG:root:mean evidence: 0.745, std: 0.296 -> th=1.1820821577107334
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:54567 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96981582,  0.09619537,  0.22406189],
       [-0.09870496,  0.99511674,  0.        ],
       [-0.22296774, -0.02211602,  0.97457492]]), 'pose_fully_defined': False}}, {'patch': array([-0.01279598,  0.00839192, -0.00105284])}]
INFO:root:Testing 1071 out of 14424 hypotheses for numenta_mug (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.808
INFO:root:Testing 125 out of 10992 hypotheses for montys_brain (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
INFO:root:Testing 839 out of 14880 hypotheses for montys_heart (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 315 out of 23200 hypotheses for ramen_pack (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.695
INFO:root:Testing 317 out of 14864 hypotheses for hot_sauce (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 743 out of 12560 hypotheses for harissa_oil (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 1418 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 187 out of 16976 hypotheses for mustard_bottle (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.651
INFO:root:Testing 138 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 175 out of 19024 hypotheses for potted_meat_can (evidence > 0.2955205394276834)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [1.80841938 0.29332367 0.29537287 0.69504164 0.29541437 0.29546512
 0.29522726 0.65141798 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.522, std: 0.454 -> th=1.4467355051690007
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:54567 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97400214,  0.07723076,  0.21296769],
       [-0.07904409,  0.99687112,  0.        ],
       [-0.21230134, -0.01683384,  0.97705924]]), 'pose_fully_defined': False}}, {'patch': array([-0.00255706,  0.01700626, -0.00032104])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 0.3616838762922501)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.962
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.3616838762922501)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.3616838762922501)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [1.9623844  0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.462, std: 0.5 -> th=1.5699075234293074
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:54567 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99370014,  0.08832011,  0.06898973],
       [-0.08853105,  0.99607342,  0.        ],
       [-0.06871884, -0.00610773,  0.99761737]]), 'pose_fully_defined': False}}, {'patch': array([-0.00516408,  0.00954359, -0.00315195])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 0.3924768808573267)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.139
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [2.13939022 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.48, std: 0.553 -> th=1.7115121748741822
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.6441237 ,  0.00175744, -0.76491933],
       [-0.00272842,  0.99999628,  0.        ],
       [ 0.76491648,  0.00208702,  0.64412609]]), 'pose_fully_defined': False}}, {'patch': array([-0.01704306, -0.03217763, -0.09023331])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 0.42787804371854543)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.454
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [2.45419548 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.511, std: 0.648 -> th=1.9633563841002197
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67582043,  0.00308415, -0.73705986],
       [-0.00456352,  0.99998959,  0.        ],
       [ 0.73705218,  0.00336359,  0.67582747]]), 'pose_fully_defined': False}}, {'patch': array([-0.00141152,  0.01972477,  0.00532212])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 0.4908390960250548)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.751
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [2.75129392 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.541, std: 0.737 -> th=2.2010351381162696
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.75
DEBUG:root:evidences for each object: [2.75129392 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.541, std: 0.737 -> th=2.2010351381162696
DEBUG:root:evidences for each object: [2.75129392 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.541, std: 0.737 -> th=2.3385998342485363
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65251043, -0.05191207, -0.75599952],
       [ 0.07930686,  0.99685025, -0.        ],
       [ 0.75361831, -0.05995595,  0.65457217]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00358559, -0.02612088, -0.00296977])}]
INFO:root:Testing 112 out of 14424 hypotheses for numenta_mug (evidence > 0.5502587845290674)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.185
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [3.18487798 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.584, std: 0.867 -> th=2.5479023826569303
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.7874539 , -0.06721855, -0.61269734],
       [ 0.08505257,  0.99637647, -0.        ],
       [ 0.61047721, -0.05211148,  0.79031764]]), 'pose_fully_defined': False}}, {'patch': array([-0.01129356, -0.01564506,  0.01080958])}]
INFO:root:Testing 89 out of 14424 hypotheses for numenta_mug (evidence > 0.6369755956642322)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.763
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [2.76255575 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.542, std: 0.74 -> th=2.210044598634236
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81702753, -0.0991478 , -0.56801033],
       [ 0.12046807,  0.9927172 , -0.        ],
       [ 0.56387362, -0.06842711,  0.82302143]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01780116,  0.01026313, -0.00254691])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 0.5525111496585589)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.176
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [3.17584575 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.583, std: 0.864 -> th=2.5406766003459897
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89357737, -0.09537349, -0.43866089],
       [ 0.10612942,  0.99435233, -0.        ],
       [ 0.43618348, -0.04655483,  0.89865267]]), 'pose_fully_defined': False}}, {'patch': array([-0.00331739,  0.01938955,  0.00117715])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 0.6351691500864973)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.555
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [3.55535682 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.621, std: 0.978 -> th=2.844285455872661
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91993398, -0.05639353, -0.38799644],
       [ 0.06118685,  0.99812633, -0.        ],
       [ 0.38726946, -0.02374028,  0.92166087]]), 'pose_fully_defined': False}}, {'patch': array([-0.00129723,  0.02477676,  0.00762405])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 0.711071363968165)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.926
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [3.92578346 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.658, std: 1.089 -> th=3.140626765020543
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94987719, -0.06104146, -0.30660603],
       [ 0.06413019,  0.99794154, -0.        ],
       [ 0.3059749 , -0.0196627 ,  0.95183651]]), 'pose_fully_defined': False}}, {'patch': array([-0.00504112,  0.00801188,  0.00126449])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 0.7851566912551355)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.298
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [4.29837426 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.695, std: 1.201 -> th=3.4386994059913176
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.3
DEBUG:root:evidences for each object: [4.29837426 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.695, std: 1.201 -> th=3.4386994059913176
DEBUG:root:evidences for each object: [4.29837426 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.695, std: 1.201 -> th=3.6536181188657753
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83197945, -0.04116594, -0.55327711],
       [ 0.04941906,  0.99877813, -0.        ],
       [ 0.55260108, -0.02734244,  0.83299726]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00047473, -0.05523388,  0.00538818])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 0.8596748514978292)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.195
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [4.19458998 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.685, std: 1.17 -> th=3.3556719876882903
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:54569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02777222, -0.00940332, -0.99957005],
       [ 0.32070303,  0.9471798 , -0.        ],
       [ 0.94677255, -0.32056514,  0.02932096]]), 'pose_fully_defined': False}}, {'patch': array([0.00856331, 0.02985968, 0.00333133])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 0.8389179969220724)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.053
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [4.05273641 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.671, std: 1.127 -> th=3.242189124830044
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.23770206,  0.14609534, -0.96028844],
       [-0.523622  ,  0.8519507 ,  0.        ],
       [ 0.81811841,  0.50282816,  0.27900917]]), 'pose_fully_defined': False}}, {'patch': array([-0.0207473 , -0.01681164, -0.03212487])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 0.8105472812075107)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.523
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [4.52272261 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.718, std: 1.268 -> th=3.618178085661694
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.13002162,  0.16532089, -0.97763152],
       [-0.78602575,  0.61819376,  0.        ],
       [ 0.6043657 ,  0.76844354,  0.21032503]]), 'pose_fully_defined': False}}, {'patch': array([-0.00151885, -0.00070362, -0.00223358])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 0.9045445214154233)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.982
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [4.98154582 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.764, std: 1.406 -> th=3.985236657139663
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22815918,  0.16049715, -0.96030415],
       [-0.57535119,  0.81790648,  0.        ],
       [ 0.78543898,  0.55251213,  0.27895509]]), 'pose_fully_defined': False}}, {'patch': array([0.00104449, 0.01472303, 0.00396514])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 0.9963091642849156)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.44
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [5.43976169 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.81, std: 1.543 -> th=4.351809350060233
INFO:root:current most likely hypothesis: numenta_mug with evidence 5.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29024833,  0.15845922, -0.94374074],
       [-0.47918293,  0.87771505,  0.        ],
       [ 0.82833545,  0.45222446,  0.33068628]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080492,  0.01061596,  0.00248524])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 1.0879523375150582)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.919
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [5.91852613 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.857, std: 1.687 -> th=4.734820906716893
INFO:root:current most likely hypothesis: numenta_mug with evidence 5.92
DEBUG:root:evidences for each object: [5.91852613 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.857, std: 1.687 -> th=4.734820906716893
DEBUG:root:evidences for each object: [5.91852613 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.857, std: 1.687 -> th=5.030747213386698
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31435021,  0.15161457, -0.93712164],
       [-0.43442207,  0.90070942,  0.        ],
       [ 0.84407429,  0.40710632,  0.34900291]]), 'pose_fully_defined': False}}, {'patch': array([-0.00021418,  0.00801813,  0.00016633])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 1.1837052266792227)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.41
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [6.41001817 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.907, std: 1.834 -> th=5.128014533661017
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:54571 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29047636,  0.16561933, -0.9424403 ],
       [-0.49531095,  0.86871576,  0.        ],
       [ 0.81871274,  0.466801  ,  0.33437446]]), 'pose_fully_defined': False}}, {'patch': array([-0.00137677, -0.00318106, -0.00205166])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 1.282003633415254)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.887
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [6.88743551 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.954, std: 1.978 -> th=5.509948405537724
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:54574 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89195782,  0.17187103,  0.41817651],
       [-0.18920905,  0.98193683,  0.        ],
       [-0.41062291, -0.07912278,  0.90836579]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02445416, -0.00095677,  0.05081058])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 1.377487101384431)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.377
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.37714602 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.003, std: 2.125 -> th=5.901716819634811
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:54574 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87357919,  0.20840355,  0.43980376],
       [-0.23205096,  0.97270363,  0.        ],
       [-0.42779872, -0.10205689,  0.8980939 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00166713, -0.02006998, -0.00037291])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 1.4754292049087026)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.844
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.84378545 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.05, std: 2.265 -> th=6.27502836376915
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:54575 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.934525  ,  0.16703772,  0.3142633 ],
       [-0.17595219,  0.98439871,  0.        ],
       [-0.30936038, -0.05529531,  0.94933586]]), 'pose_fully_defined': False}}, {'patch': array([-0.01022222,  0.02292351,  0.0091241 ])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 1.5687570909422872)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.177
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [8.17737264 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.083, std: 2.365 -> th=6.541898111710433
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:54575 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98242825,  0.15837735,  0.09874895],
       [-0.15915524,  0.98725357,  0.        ],
       [-0.09749025, -0.01571641,  0.99511238]]), 'pose_fully_defined': False}}, {'patch': array([-0.00205236,  0.00537789,  0.0030693 ])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 1.6354745279276077)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.404
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [8.40373586 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.106, std: 2.433 -> th=6.722988691951988
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.4
DEBUG:root:evidences for each object: [8.40373586 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.106, std: 2.433 -> th=6.722988691951988
DEBUG:root:evidences for each object: [8.40373586 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.106, std: 2.433 -> th=7.143175485198988
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:54577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82794863,  0.11144857, -0.54961831],
       [-0.13340489,  0.99106162,  0.        ],
       [ 0.54470562,  0.07332177,  0.83541589]]), 'pose_fully_defined': False}}, {'patch': array([0.00529007, 0.00612405, 0.01551017])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 1.6807471729879966)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.454
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.45417408 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.011, std: 2.148 -> th=5.963339265370723
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:54578 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30107117,  0.07248691, -0.95084268],
       [-0.23407463,  0.97221863,  0.        ],
       [ 0.92442697,  0.22256815,  0.30967434]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01005092, -0.01689243,  0.02706162])}]
INFO:root:Testing 115 out of 14424 hypotheses for numenta_mug (evidence > 1.4908348163426801)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.068
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.06780288 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.972, std: 2.032 -> th=5.654242303367714
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50759687,  0.08340756, -0.85754801],
       [-0.1621441 ,  0.98676709,  0.        ],
       [ 0.84620016,  0.13904635,  0.51440393]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00325381, -0.01497633, -0.00185745])}]
INFO:root:Testing 212 out of 14424 hypotheses for numenta_mug (evidence > 1.4135605758419283)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.83
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [6.83040213 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.949, std: 1.961 -> th=5.46432170244833
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96345883,  0.08057348, -0.25545058],
       [-0.08333847,  0.9965213 ,  0.        ],
       [ 0.25456194,  0.02128886,  0.96682212]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00348736, -0.01712205, -0.00471351])}]
INFO:root:Testing 234 out of 14424 hypotheses for numenta_mug (evidence > 1.3660804256120818)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.098
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.09803153 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.975, std: 2.041 -> th=5.678425220111697
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93392385,  0.05304751, -0.35351408],
       [-0.05670927,  0.99839073,  0.        ],
       [ 0.35294518,  0.02004753,  0.9354292 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00129952, -0.01212047, -0.00546658])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 1.4196063050279237)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.373
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.37288942 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.003, std: 2.123 -> th=5.898311533380085
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94882919,  0.04586702, -0.312441  ],
       [-0.04828427,  0.99883363,  0.        ],
       [ 0.31207658,  0.01508598,  0.94993717]]), 'pose_fully_defined': False}}, {'patch': array([ 1.00423567e-05, -1.12625771e-02, -3.26749795e-04])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 1.4745778833450212)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.201
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.20086378 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.986, std: 2.072 -> th=5.760691020963689
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.2
DEBUG:root:evidences for each object: [7.20086378 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.986, std: 2.072 -> th=5.760691020963689
DEBUG:root:evidences for each object: [7.20086378 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 0.986, std: 2.072 -> th=6.12073420977392
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92174934,  0.0516445 ,  0.38433189],
       [-0.05594105,  0.99843407,  0.        ],
       [-0.38373005, -0.02149993,  0.923195  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01141325,  0.02098557, -0.04368598])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 1.4401727552409218)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.64
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [7.64049629 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.03, std: 2.204 -> th=6.112397034394074
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93111923,  0.03789602,  0.36274079],
       [-0.04066576,  0.99917281,  0.        ],
       [-0.36244073, -0.01475113,  0.93189008]]), 'pose_fully_defined': False}}, {'patch': array([-0.00043931,  0.0177371 , -0.00280741])}]
INFO:root:Testing 679 out of 14424 hypotheses for numenta_mug (evidence > 1.5280992585985178)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.097
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [8.09721622 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.075, std: 2.341 -> th=6.477772977728948
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:54579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93807349,  0.0227717 ,  0.3456871 ],
       [-0.02426781,  0.99970549,  0.        ],
       [-0.34558529, -0.00838907,  0.93834984]]), 'pose_fully_defined': False}}, {'patch': array([-0.00225622,  0.01379949,  0.00096774])}]
INFO:root:Testing 679 out of 14424 hypotheses for numenta_mug (evidence > 1.6194432444322366)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.524
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [8.52394427 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.118, std: 2.469 -> th=6.819155419417373
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:54582 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35136274,  0.01416686,  0.93613221],
       [-0.04028703,  0.99918815,  0.        ],
       [-0.93537221, -0.03771398,  0.35164823]]), 'pose_fully_defined': False}}, {'patch': array([-0.0165144 , -0.004901  ,  0.02378475])}]
INFO:root:Testing 616 out of 14424 hypotheses for numenta_mug (evidence > 1.7047888548543426)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.0
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [8.99950853 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.166, std: 2.611 -> th=7.199606827572268
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:54582 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1836626 ,  0.02268714,  0.9827275 ],
       [-0.12259439,  0.99245686,  0.        ],
       [-0.97531465, -0.12047688,  0.18505852]]), 'pose_fully_defined': False}}, {'patch': array([-0.00102778,  0.00886022,  0.00105762])}]
INFO:root:Testing 322 out of 14424 hypotheses for numenta_mug (evidence > 1.799901706893067)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.437
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [9.43658324 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.209, std: 2.742 -> th=7.549266593483385
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:54582 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15665049, -0.01298162,  0.98756878],
       [ 0.08258688, -0.99658387,  0.        ],
       [ 0.98419512,  0.08156022,  0.15718746]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00361358,  0.00404062, -0.00082215])}]
INFO:root:Testing 213 out of 14424 hypotheses for numenta_mug (evidence > 1.8873166483708461)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.772
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [9.77157868 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.243, std: 2.843 -> th=7.817262943068525
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.77
DEBUG:root:evidences for each object: [9.77157868 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.243, std: 2.843 -> th=7.817262943068525
DEBUG:root:evidences for each object: [9.77157868 0.29332367 0.29537287 0.29534695 0.29541437 0.29546512
 0.29522726 0.29550104 0.2954931  0.29500816]
DEBUG:root:mean evidence: 1.243, std: 2.843 -> th=8.305841877010307
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:54582 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40525173,  0.05468816,  0.91256794],
       [-0.13373636,  0.99101695,  0.        ],
       [-0.90437029, -0.12204351,  0.40892512]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00455848, -0.0194249 , -0.00334372])}]
INFO:root:Testing 184 out of 14424 hypotheses for numenta_mug (evidence > 1.954315735767131)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.255
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [10.25458203  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.291, std: 2.988 -> th=8.203665626813702
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:54583 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79206376, -0.0467003 ,  0.60864939],
       [ 0.05885807, -0.99826636,  0.        ],
       [ 0.60759421,  0.03582393,  0.7934393 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00534287, 0.03022002, 0.02029344])}]
INFO:root:Testing 177 out of 14424 hypotheses for numenta_mug (evidence > 2.0509164067034256)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.728
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [10.72803969  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.338, std: 3.13 -> th=8.582431753297845
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:54584 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42592763,  0.06100711,  0.90269806],
       [-0.14178646,  0.98989727,  0.        ],
       [-0.89357834, -0.12799037,  0.43027458]]), 'pose_fully_defined': False}}, {'patch': array([-0.00393204, -0.0277735 , -0.01932528])}]
INFO:root:Testing 147 out of 14424 hypotheses for numenta_mug (evidence > 2.1456079383244617)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.223
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [11.22272883  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.388, std: 3.278 -> th=8.97818306369627
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:54584 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.3873223 ,  0.06723066,  0.91948979],
       [-0.17102083,  0.98526741,  0.        ],
       [-0.90594333, -0.15725191,  0.39311389]]), 'pose_fully_defined': False}}, {'patch': array([-0.00168656, -0.01325876,  0.00017217])}]
INFO:root:Testing 143 out of 14424 hypotheses for numenta_mug (evidence > 2.2445457659240677)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.721
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [11.72104581  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.438, std: 3.428 -> th=9.376836650590764
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:54584 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31462008,  0.06260384,  0.94715097],
       [-0.19515635,  0.98077214,  0.        ],
       [-0.92893929, -0.18484253,  0.32078814]]), 'pose_fully_defined': False}}, {'patch': array([-0.00413006, -0.00172783,  0.00095678])}]
INFO:root:Testing 127 out of 14424 hypotheses for numenta_mug (evidence > 2.34420916264769)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.214
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [12.21400594  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.487, std: 3.576 -> th=9.771204752786
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:54584 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0252726 ,  0.08382857,  0.99615966],
       [-0.95743552,  0.28864723,  0.        ],
       [-0.28753872, -0.95375864,  0.08755532]]), 'pose_fully_defined': False}}, {'patch': array([-0.01501484,  0.01697125,  0.00476863])}]
INFO:root:Testing 126 out of 14424 hypotheses for numenta_mug (evidence > 2.4428011881964995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.673
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.293
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.296
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidences for each object: [12.67254285  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.533, std: 3.713 -> th=10.138034281521819
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.67
DEBUG:root:evidences for each object: [12.67254285  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.533, std: 3.713 -> th=10.138034281521819
DEBUG:root:evidences for each object: [12.67254285  0.29332367  0.29537287  0.29534695  0.29541437  0.29546512
  0.29522726  0.29550104  0.2954931   0.29500816]
DEBUG:root:mean evidence: 1.533, std: 3.713 -> th=10.771661424116932
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 50 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tbp_mug_inference/0
DEBUG:root:Removing and closing python log handler: <FileHandler /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tbp_mug_inference/log.txt (NOTSET)>
