INFO:root:Logger initialized at 2025-09-28 12:31:55.898054
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/hot_sauce/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FB4F8C6D440,
                  '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/hot_sauce',
                    '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': 'wg3aypxy'},
 '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([[-0.19127526,  0.0242221 ,  0.98123752],
       [-0.12563145, -0.99207698,  0.        ],
       [ 0.97346316, -0.12327429,  0.19280284]]), '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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'harissa_oil', 'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'tuna_fish_can', 'montys_heart'}
INFO:root:--- Global Matching Step 1 ---
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([[ 0.94633755,  0.10245181,  0.3065108 ],
       [-0.10763246,  0.99419075,  0.        ],
       [-0.3047302 , -0.03299051,  0.95186718]]), 'pose_fully_defined': False}}, {'patch': array([0.00088944, 0.0006458 , 0.0003596 ])}]
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: 0.495
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: 0.314
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 0.05 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: 0.468
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: 0.488
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: 0.464
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: 0.49
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 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'harissa_oil', 'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'tuna_fish_can', 'montys_heart'}
INFO:root:--- Global Matching Step 2 ---
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([[ 0.8630555 ,  0.0813626 ,  0.49851312],
       [-0.09385659,  0.99558573,  0.        ],
       [-0.49631255, -0.04678874,  0.86688215]]), 'pose_fully_defined': False}}, {'patch': array([-0.05581769,  0.01162086, -0.02092371])}]
INFO:root:Testing 1225 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 0.0 seconds. New max evidence: 0.67
INFO:root:Testing 160 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 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 1538 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 0.01 seconds. New max evidence: 0.333
INFO:root:Testing 2854 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 0.01 seconds. New max evidence: 0.546
INFO:root:Testing 781 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 0.0 seconds. New max evidence: 0.505
INFO:root:Testing 1035 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 0.0 seconds. New max evidence: 0.426
INFO:root:Testing 2608 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 0.01 seconds. New max evidence: 0.801
INFO:root:Testing 1513 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 0.0 seconds. New max evidence: 0.355
INFO:root:Testing 2136 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: 0.507
INFO:root:Testing 2630 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: 0.89
DEBUG:root:evidences for each object: [0.6698497  0.0995884  0.33340622 0.54583015 0.50453958 0.42608178
 0.80149623 0.35503602 0.50715152 0.889848  ]
DEBUG:root:mean evidence: 0.513, std: 0.221 -> th=0.7118783962183007
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 3 ---
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([[ 0.83801483,  0.07446591,  0.5405423 ],
       [-0.08851114,  0.99607519,  0.        ],
       [-0.53842077, -0.04784401,  0.84131684]]), 'pose_fully_defined': False}}, {'patch': array([-0.00045333,  0.01272526,  0.0013507 ])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 0.1779695990545751)
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: 1.128
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.1779695990545751)
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: 0.183
INFO:root:Testing 102 out of 23200 hypotheses for ramen_pack (evidence > 0.1779695990545751)
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: 0.889
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 0.1779695990545751)
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: 0.588
INFO:root:Testing 102 out of 12560 hypotheses for harissa_oil (evidence > 0.1779695990545751)
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: 0.382
INFO:root:Testing 153 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1779695990545751)
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: 1.014
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 0.1779695990545751)
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: 0.414
INFO:root:Testing 87 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1779695990545751)
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: 0.752
INFO:root:Testing 143 out of 19024 hypotheses for potted_meat_can (evidence > 0.1779695990545751)
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: 1.258
DEBUG:root:evidences for each object: [1.12801689 0.0995884  0.18326217 0.88866792 0.58767638 0.38206284
 1.01390644 0.41368863 0.75219993 1.25807244]
DEBUG:root:mean evidence: 0.671, std: 0.38 -> th=1.0064579523832577
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 4 ---
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([[ 0.7898227 ,  0.0805941 ,  0.60801702],
       [-0.10151363,  0.99483415,  0.        ],
       [-0.60487609, -0.06172201,  0.79392399]]), 'pose_fully_defined': False}}, {'patch': array([0.0007004 , 0.00741079, 0.00030714])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 0.25161448809581444)
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: 1.483
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 0.25161448809581444)
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: 0.716
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 0.25161448809581444)
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: 0.778
INFO:root:Testing 39 out of 12560 hypotheses for harissa_oil (evidence > 0.25161448809581444)
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: 0.407
INFO:root:Testing 43 out of 21832 hypotheses for tomato_soup_can (evidence > 0.25161448809581444)
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: 1.142
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.25161448809581444)
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: 0.457
INFO:root:Testing 58 out of 17728 hypotheses for tuna_fish_can (evidence > 0.25161448809581444)
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: 1.115
INFO:root:Testing 34 out of 19024 hypotheses for potted_meat_can (evidence > 0.25161448809581444)
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: 1.698
DEBUG:root:evidences for each object: [1.4832693  0.0995884  0.18326217 0.71579088 0.77781437 0.40734526
 1.14210218 0.45737075 1.11468938 1.69772682]
DEBUG:root:mean evidence: 0.808, std: 0.514 -> th=1.358181452683861
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 5 ---
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([[ 0.72621253,  0.10905771,  0.67876489],
       [-0.14850803,  0.9889112 ,  0.        ],
       [-0.6712382 , -0.10080204,  0.73435565]]), 'pose_fully_defined': False}}, {'patch': array([-0.0035012 ,  0.00199188,  0.00134414])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.33954536317096506)
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: 1.879
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.33954536317096506)
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: 0.652
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 0.33954536317096506)
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: 1.052
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 0.33954536317096506)
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: 0.476
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 0.33954536317096506)
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: 1.438
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.33954536317096506)
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: 0.548
INFO:root:Testing 43 out of 17728 hypotheses for tuna_fish_can (evidence > 0.33954536317096506)
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: 1.519
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.33954536317096506)
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: 1.798
DEBUG:root:evidences for each object: [1.87875673 0.0995884  0.18326217 0.65201793 1.05167015 0.47640259
 1.43769314 0.54818224 1.51871012 1.79843487]
DEBUG:root:mean evidence: 0.964, std: 0.628 -> th=1.5030053827894598
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.87699475,  0.13583222,  0.46090109],
       [-0.15305875,  0.98821709,  0.        ],
       [-0.45547034, -0.07054495,  0.88745151]]), 'pose_fully_defined': False}}, {'patch': array([-0.00921372,  0.01653682, -0.00298942])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.3757513456973649)
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: 0.879
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.3757513456973649)
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: 0.681
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 0.3757513456973649)
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: 0.913
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 0.3757513456973649)
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: 0.334
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3757513456973649)
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: 0.438
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.3757513456973649)
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: 0.414
INFO:root:Testing 35 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3757513456973649)
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: 1.183
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.3757513456973649)
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: 2.136
DEBUG:root:evidences for each object: [0.87875673 0.0995884  0.18326217 0.68056425 0.91283147 0.3336648
 0.43769314 0.4143627  1.18273531 2.13596282]
DEBUG:root:mean evidence: 0.726, std: 0.573 -> th=1.7087702590237464
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.14
DEBUG:root:evidences for each object: [0.87875673 0.0995884  0.18326217 0.68056425 0.91283147 0.3336648
 0.43769314 0.4143627  1.18273531 2.13596282]
DEBUG:root:mean evidence: 0.726, std: 0.573 -> th=1.7087702590237464
DEBUG:root:evidences for each object: [0.87875673 0.0995884  0.18326217 0.68056425 0.91283147 0.3336648
 0.43769314 0.4143627  1.18273531 2.13596282]
DEBUG:root:mean evidence: 0.726, std: 0.573 -> th=1.8155684002127304
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: {'potted_meat_can'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.91098444,  0.11495031,  0.39609819],
       [-0.12518982,  0.99213281,  0.        ],
       [-0.39298201, -0.04958746,  0.91820816]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00316452,  0.01132681, -0.0018642 ])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.4271925647559365)
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: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.4271925647559365)
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: 0.324
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.4271925647559365)
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: 0.399
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4271925647559365)
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: 0.338
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.414
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4271925647559365)
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: 0.382
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 0.4271925647559365)
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: 2.382
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.39896566 0.3336648
 0.33848936 0.4143627  0.38208289 2.38238636]
DEBUG:root:mean evidence: 0.515, std: 0.629 -> th=1.9059090912136896
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.78233752,  0.11239963,  0.61262903],
       [-0.1422113 ,  0.98983632,  0.        ],
       [-0.60640247, -0.08712277,  0.79037059]]), 'pose_fully_defined': False}}, {'patch': array([-0.00085452,  0.00300105, -0.00041225])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.324
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.399
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.338
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.414
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.382
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.47647727280342234)
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: 2.696
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.39896566 0.3336648
 0.33848936 0.4143627  0.38208289 2.69566357]
DEBUG:root:mean evidence: 0.546, std: 0.722 -> th=2.1565308553510127
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.912856  ,  0.12805799,  0.38767909],
       [-0.13892251,  0.99030326,  0.        ],
       [-0.38391987, -0.05385735,  0.9217944 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00048631,  0.00396246, -0.0019465 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.324
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.399
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.338
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.414
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.382
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.5391327138377533)
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: 2.863
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.39896566 0.3336648
 0.33848936 0.4143627  0.38208289 2.86306691]
DEBUG:root:mean evidence: 0.563, std: 0.772 -> th=2.2904535317966435
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.88687222,  0.10042602,  0.45096816],
       [-0.11251711,  0.99364979,  0.        ],
       [-0.44810442, -0.05074163,  0.89254004]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00020695,  0.00962999, -0.00128171])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.324
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.399
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.338
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.414
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.382
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.5726133829491609)
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: 2.947
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.39896566 0.3336648
 0.33848936 0.4143627  0.38208289 2.94685304]
DEBUG:root:mean evidence: 0.572, std: 0.797 -> th=2.357482432085825
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.87857299,  0.09388919,  0.46828871],
       [-0.10626052,  0.99433832,  0.        ],
       [-0.46563741, -0.0497606 ,  0.88357551]]), 'pose_fully_defined': False}}, {'patch': array([-0.00072649,  0.00606418,  0.00071131])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.324
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.399
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.338
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.414
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.382
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.589370608021456)
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: 1.947
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.39896566 0.3336648
 0.33848936 0.4143627  0.38208289 1.94685304]
DEBUG:root:mean evidence: 0.472, std: 0.5 -> th=1.5574824320858247
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.92205359,  0.10407069,  0.37280889],
       [-0.11215624,  0.99369058,  0.        ],
       [-0.37045668, -0.04181284,  0.92790815]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00252962,  0.00574051, -0.00280617])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.295
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.324
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.38937060802145607)
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: 0.372
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.334
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.338
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.38937060802145607)
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: 0.337
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.382
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 0.38937060802145607)
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: 1.202
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.37227576 0.3336648
 0.33848936 0.33680927 0.38208289 1.20177268]
DEBUG:root:mean evidence: 0.387, std: 0.284 -> th=0.9614181478262841
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.2
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.37227576 0.3336648
 0.33848936 0.33680927 0.38208289 1.20177268]
DEBUG:root:mean evidence: 0.387, std: 0.284 -> th=0.9614181478262841
DEBUG:root:evidences for each object: [0.29482665 0.0995884  0.18326217 0.3238543  0.37227576 0.3336648
 0.33848936 0.33680927 0.38208289 1.20177268]
DEBUG:root:mean evidence: 0.387, std: 0.284 -> th=1.0215067820654269
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: {'potted_meat_can'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.86191851,  0.07592526,  0.50133007],
       [-0.08774888,  0.99614263,  0.        ],
       [-0.49939625, -0.04399115,  0.86525612]]), 'pose_fully_defined': False}}, {'patch': array([-0.00173051,  0.00595363,  0.00226027])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.24035453695657094)
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: 0.222
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.183
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 0.24035453695657094)
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: 0.238
INFO:root:Testing 1246 out of 14864 hypotheses for hot_sauce (evidence > 0.24035453695657094)
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: 0.501
INFO:root:Testing 22 out of 12560 hypotheses for harissa_oil (evidence > 0.24035453695657094)
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: 0.24
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 0.24035453695657094)
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: 0.237
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 0.24035453695657094)
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: 0.239
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 0.24035453695657094)
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: 0.24
INFO:root:Testing 485 out of 19024 hypotheses for potted_meat_can (evidence > 0.24035453695657094)
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: 0.24
INFO:root:current most likely hypothesis: hot_sauce with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'harissa_oil', 'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'tuna_fish_can', 'montys_heart'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:54688 - "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([[ 0.87416905,  0.06143997,  0.48171942],
       [-0.07011091,  0.9975392 ,  0.        ],
       [-0.480534  , -0.03377378,  0.87632551]]), 'pose_fully_defined': False}}, {'patch': array([0.00018284, 0.00628316, 0.00044387])}]
INFO:root:Testing 49 out of 14424 hypotheses for numenta_mug (evidence > 0.10028747059711918)
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: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 0.10028747059711918)
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: 0.1
INFO:root:Testing 148 out of 23200 hypotheses for ramen_pack (evidence > 0.10028747059711918)
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: 0.254
INFO:root:Testing 8134 out of 14864 hypotheses for hot_sauce (evidence > 0.10028747059711918)
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: 0.716
INFO:root:Testing 76 out of 12560 hypotheses for harissa_oil (evidence > 0.10028747059711918)
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: 0.1
INFO:root:Testing 139 out of 21832 hypotheses for tomato_soup_can (evidence > 0.10028747059711918)
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: 0.1
INFO:root:Testing 1363 out of 16976 hypotheses for mustard_bottle (evidence > 0.10028747059711918)
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: 0.415
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 0.10028747059711918)
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: 0.1
INFO:root:Testing 3985 out of 19024 hypotheses for potted_meat_can (evidence > 0.10028747059711918)
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: 0.216
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 0.2537542  0.71558298 0.10014822
 0.09990249 0.41473833 0.10015046 0.21619669]
DEBUG:root:mean evidence: 0.22, std: 0.193 -> th=0.5724663831217601
INFO:root:current most likely hypothesis: hot_sauce with evidence 0.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:54690 - "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([[-0.0096726 ,  0.09238911,  0.995676  ],
       [-0.99456421, -0.10412506,  0.        ],
       [ 0.10367482, -0.99026371,  0.09289407]]), 'pose_fully_defined': False}}, {'patch': array([-0.00206095, -0.10090426,  0.01540519])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.14311659578044)
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: 0.643
INFO:root:Testing 230 out of 14864 hypotheses for hot_sauce (evidence > 0.14311659578044)
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: 0.14
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 0.14311659578044)
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: 0.54
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.14311659578044)
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: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 0.64282902 0.13981904 0.10014822
 0.09990249 0.53975272 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.202, std: 0.196 -> th=0.514263218880961
INFO:root:current most likely hypothesis: ramen_pack with evidence 0.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:54690 - "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([[-0.11631508,  0.08716482,  0.98938016],
       [-0.59968514, -0.80023605,  0.        ],
       [ 0.79173767, -0.59331658,  0.14535097]]), 'pose_fully_defined': False}}, {'patch': array([-1.80944146e-03,  1.28020343e-02,  9.01842141e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 20918 out of 23200 hypotheses for ramen_pack (evidence > 0.12856580472024026)
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 0.05 seconds. New max evidence: 1.084
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.12856580472024026)
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: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.12856580472024026)
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: 0.864
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.08442751 0.12399415 0.10014822
 0.09990249 0.86438995 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.277, std: 0.352 -> th=0.8675420042527546
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:54690 - "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([[-0.13345685,  0.09955243,  0.98604188],
       [-0.59792149, -0.80155467,  0.        ],
       [ 0.79036647, -0.58957563,  0.1664975 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00131423,  0.0185133 , -0.00011551])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 3654 out of 23200 hypotheses for ramen_pack (evidence > 0.2168855010631886)
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: 1.53
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.2168855010631886)
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: 1.216
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.52969442 0.12399415 0.10014822
 0.09990249 1.21648443 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.357, std: 0.513 -> th=1.2237555321803288
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:54691 - "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([[-0.49533362,  0.04390316,  0.86759272],
       [-0.0882874 , -0.99609504,  0.        ],
       [ 0.8642048 , -0.0765975 ,  0.49727546]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00043452, -0.02552587, -0.00647416])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2526 out of 23200 hypotheses for ramen_pack (evidence > 0.3059388830450822)
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: 1.88
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 7364 out of 16976 hypotheses for mustard_bottle (evidence > 0.3059388830450822)
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: 1.529
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88024615 0.12399415 0.10014822
 0.09990249 1.52909258 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.423, std: 0.646 -> th=1.5041969165175995
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.88
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88024615 0.12399415 0.10014822
 0.09990249 1.52909258 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.423, std: 0.646 -> th=1.5041969165175995
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88024615 0.12399415 0.10014822
 0.09990249 1.52909258 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.423, std: 0.646 -> th=1.5982092237999495
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: {'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:54691 - "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([[-0.51256098,  0.05488209,  0.85689509],
       [-0.10646569, -0.99431638,  0.        ],
       [ 0.85202483, -0.09122993,  0.51549083]]), 'pose_fully_defined': False}}, {'patch': array([-4.57684283e-04,  1.86729133e-02,  7.55153290e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2456 out of 23200 hypotheses for ramen_pack (evidence > 0.37604922912939975)
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: 2.22
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 703 out of 16976 hypotheses for mustard_bottle (evidence > 0.37604922912939975)
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: 1.848
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.22048896 0.12399415 0.10014822
 0.09990249 1.8475031  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.489, std: 0.777 -> th=1.776391171444653
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:54693 - "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([[-0.94645789,  0.03723018,  0.32067332],
       [-0.03930593, -0.99922722,  0.        ],
       [ 0.32042551, -0.01260436,  0.94718985]]), 'pose_fully_defined': False}}, {'patch': array([-0.00023173,  0.02073754, -0.00539841])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2441 out of 23200 hypotheses for ramen_pack (evidence > 0.44409779286116313)
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: 2.59
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 434 out of 16976 hypotheses for mustard_bottle (evidence > 0.44409779286116313)
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: 1.568
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.59044118 0.12399415 0.10014822
 0.09990249 1.56844626 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.498, std: 0.823 -> th=2.0723529475283597
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:54693 - "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([[-0.67371669,  0.06466675,  0.7361549 ],
       [-0.09554595, -0.99542502,  0.        ],
       [ 0.732787  , -0.07033662,  0.6768131 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00310368,  0.00840874, -0.00470146])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2387 out of 23200 hypotheses for ramen_pack (evidence > 0.51808823688209)
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: 2.977
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 227 out of 16976 hypotheses for mustard_bottle (evidence > 0.51808823688209)
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: 1.959
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.97660141 0.12399415 0.10014822
 0.09990249 1.95938781 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.576, std: 0.973 -> th=2.3812811242854734
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:54693 - "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([[-0.61768375,  0.05581653,  0.78444331],
       [-0.08999755, -0.99594199,  0.        ],
       [ 0.78126003, -0.07059798,  0.62020053]]), 'pose_fully_defined': False}}, {'patch': array([-0.03925598,  0.01360879,  0.04921491])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 2079 out of 23200 hypotheses for ramen_pack (evidence > 0.5953202810713685)
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: 1.977
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 142 out of 16976 hypotheses for mustard_bottle (evidence > 0.5953202810713685)
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: 0.959
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.97660141 0.12399415 0.10014822
 0.09990249 0.95938781 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.376, std: 0.592 -> th=1.5812811242854736
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.5573662 ,  0.01437214, -0.83014237],
       [-0.02577725,  0.99966771,  0.        ],
       [ 0.82986653,  0.02139879,  0.55755147]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03652123, -0.04852716, -0.06321428])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 1023 out of 23200 hypotheses for ramen_pack (evidence > 0.3953202810713683)
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: 2.21
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 0.3953202810713683)
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: 0.562
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.21041821 0.12399415 0.10014822
 0.09990249 0.56180812 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.36, std: 0.632 -> th=1.7683345695938069
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.38236627,  0.02379216, -0.92370448],
       [-0.06210338,  0.99806972,  0.        ],
       [ 0.92192147,  0.05736517,  0.38310577]]), 'pose_fully_defined': False}}, {'patch': array([-0.00386247,  0.00922905, -0.00364921])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 779 out of 23200 hypotheses for ramen_pack (evidence > 0.44208364239845155)
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: 2.582
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 0.44208364239845155)
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: 0.639
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.5815141  0.12399415 0.10014822
 0.09990249 0.63865806 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.404, std: 0.743 -> th=2.0652112778003455
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.58
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.5815141  0.12399415 0.10014822
 0.09990249 0.63865806 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.404, std: 0.743 -> th=2.0652112778003455
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.5815141  0.12399415 0.10014822
 0.09990249 0.63865806 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.404, std: 0.743 -> th=2.1942869826628675
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: {'ramen_pack'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.45830082,  0.03933016, -0.88792652],
       [-0.08550308,  0.99633791,  0.        ],
       [ 0.88467485,  0.07592045,  0.45998533]]), 'pose_fully_defined': False}}, {'patch': array([0.00356296, 0.00732353, 0.00290283])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 680 out of 23200 hypotheses for ramen_pack (evidence > 0.5163028194500865)
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: 2.912
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.5163028194500865)
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: 0.393
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.91218045 0.12399415 0.10014822
 0.09990249 0.39316814 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.413, std: 0.838 -> th=2.329744362070042
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.81915518,  0.0185898 , -0.57327063],
       [-0.02268803,  0.99974259,  0.        ],
       [ 0.57312307,  0.01300638,  0.81936609]]), 'pose_fully_defined': False}}, {'patch': array([0.00026975, 0.01430761, 0.01153077])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 644 out of 23200 hypotheses for ramen_pack (evidence > 0.5824360905175103)
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: 2.538
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.393
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.53787178 0.12399415 0.10014822
 0.09990249 0.39316814 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.375, std: 0.726 -> th=2.0302974269749763
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.73649673,  0.03535655, -0.67551646],
       [-0.04795117,  0.99884968,  0.        ],
       [ 0.6747394 ,  0.03239181,  0.73734491]]), 'pose_fully_defined': False}}, {'patch': array([9.32533099e-05, 9.34835264e-03, 3.01303534e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 606 out of 23200 hypotheses for ramen_pack (evidence > 0.5075743567437438)
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: 2.506
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.393
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.50623923 0.12399415 0.10014822
 0.09990249 0.39316814 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.372, std: 0.717 -> th=2.004991380806163
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:54694 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.78560221,  0.04064418, -0.61739552],
       [-0.05166723,  0.99866436,  0.        ],
       [ 0.6165709 ,  0.03189912,  0.78665289]]), 'pose_fully_defined': False}}, {'patch': array([-0.00066578,  0.01744004,  0.00097367])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 464 out of 23200 hypotheses for ramen_pack (evidence > 0.5012478452015405)
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: 2.193
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.393
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.19320777 0.12399415 0.10014822
 0.09990249 0.39316814 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.341, std: 0.623 -> th=1.7545662131843542
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:54694 - "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([[ 0.82934783,  0.03992445, -0.55730443],
       [-0.04808389,  0.9988433 ,  0.        ],
       [ 0.55665979,  0.02679736,  0.83030824]]), 'pose_fully_defined': False}}, {'patch': array([0.00029388, 0.00561962, 0.00115737])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 291 out of 23200 hypotheses for ramen_pack (evidence > 0.43864155329608856)
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: 1.555
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.393
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.55521383 0.12399415 0.10014822
 0.09990249 0.39316814 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.277, std: 0.435 -> th=1.2441710625806184
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:54696 - "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([[-0.82357142, -0.05691594, -0.56434979],
       [ 0.06894424, -0.99762051,  0.        ],
       [-0.56300693, -0.03890867,  0.82553577]]), 'pose_fully_defined': False}}, {'patch': array([-0.00953253, -0.05790235, -0.0144925 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 0.31104276564515443)
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: 1.888
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 64 out of 16976 hypotheses for mustard_bottle (evidence > 0.31104276564515443)
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: 0.67
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88789513 0.12399415 0.10014822
 0.09990249 0.67037736 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.338, std: 0.544 -> th=1.510316105604409
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.89
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88789513 0.12399415 0.10014822
 0.09990249 0.67037736 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.338, std: 0.544 -> th=1.510316105604409
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 1.88789513 0.12399415 0.10014822
 0.09990249 0.67037736 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.338, std: 0.544 -> th=1.6047108622046846
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: {'ramen_pack'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:54696 - "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([[-0.88417746,  0.00879035, -0.46706847],
       [-0.00994135, -0.99995058,  0.        ],
       [-0.46704539,  0.00464329,  0.88422115]]), 'pose_fully_defined': False}}, {'patch': array([-0.00118511,  0.0045992 ,  0.00470856])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 156 out of 23200 hypotheses for ramen_pack (evidence > 0.3775790264011021)
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: 2.219
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 0.3775790264011021)
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: 1.062
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.21901335 0.12399415 0.10014822
 0.09990249 1.06206207 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.41, std: 0.667 -> th=1.775210679541334
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:54696 - "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([[-0.81328051,  0.06294787, -0.57845689],
       [-0.07716914, -0.99701802,  0.        ],
       [-0.57673194,  0.04463902,  0.81571295]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00265421, -0.0205429 , -0.00285445])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 0.44380266988533346)
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: 2.663
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 0.44380266988533346)
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: 1.23
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 2.66319953 0.12399415 0.10014822
 0.09990249 1.22951788 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.472, std: 0.804 -> th=2.130559627556815
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:54696 - "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([[-0.90545337,  0.13549718, -0.40223712],
       [-0.14799773, -0.9889877 ,  0.        ],
       [-0.39780757,  0.05953018,  0.91553552]]), 'pose_fully_defined': False}}, {'patch': array([0.00339383, 0.04650689, 0.00626178])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 104 out of 23200 hypotheses for ramen_pack (evidence > 0.5326399068892038)
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: 3.037
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.5326399068892038)
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: 1.176
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 3.03701546 0.12399415 0.10014822
 0.09990249 1.17586327 0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.504, std: 0.903 -> th=2.4296123677077324
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.82779208,  0.07230148, -0.55635669],
       [-0.0870113 , -0.99620732,  0.        ],
       [-0.55424661,  0.04840932,  0.83094358]]), 'pose_fully_defined': False}}, {'patch': array([-0.00127892,  0.01630231, -0.0001633 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 80 out of 23200 hypotheses for ramen_pack (evidence > 0.6074030919269329)
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: 3.517
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.6074030919269329)
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: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 3.51700463 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.475, std: 1.018 -> th=2.8136037070171787
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.87842484,  0.09248834, -0.46884507],
       [-0.10471005, -0.99450279,  0.        ],
       [-0.46626773,  0.04909279,  0.88328042]]), 'pose_fully_defined': False}}, {'patch': array([ 1.98874073e-06, -8.09793512e-03, -3.75938422e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 63 out of 23200 hypotheses for ramen_pack (evidence > 0.7034009267542944)
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: 3.98
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 3.97976531 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.522, std: 1.156 -> th=3.183812246896779
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.89435083,  0.12414567, -0.42979581],
       [-0.13749261, -0.99050279,  0.        ],
       [-0.42571395,  0.05909375,  0.90292611]]), 'pose_fully_defined': False}}, {'patch': array([-0.00473201, -0.02839688, -0.00789826])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 58 out of 23200 hypotheses for ramen_pack (evidence > 0.7959530617241946)
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: 4.407
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 4.40731198 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.564, std: 1.284 -> th=3.525849582587115
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.41
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 4.40731198 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.564, std: 1.284 -> th=3.525849582587115
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 4.40731198 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.564, std: 1.284 -> th=3.74621518149881
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: {'ramen_pack'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.7910925 ,  0.12925255, -0.59788497],
       [-0.16124683, -0.98691411,  0.        ],
       [-0.59006111,  0.09640706,  0.80158191]]), 'pose_fully_defined': False}}, {'patch': array([-1.21419039e-03, -9.07849753e-03, -6.00194458e-06])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 0.8814623956467784)
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: 4.6
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 4.59989629 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.584, std: 1.342 -> th=3.6799170319620664
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.80238507,  0.14162483, -0.57975909],
       [-0.17381802, -0.98477779,  0.        ],
       [-0.57093388,  0.10077258,  0.81478795]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00024019, -0.01235158, -0.00029748])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 0.9199792579905166)
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: 5.019
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.01865566 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.625, std: 1.467 -> th=4.014924528144898
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.76252307,  0.09932863, -0.63929053],
       [-0.1291718 , -0.99162223,  0.        ],
       [-0.6339347 ,  0.08257831,  0.76896529]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00422967,  0.00674687, -0.00296465])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 1.0037311320362248)
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: 5.478
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.47807199 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.671, std: 1.605 -> th=4.382457592184755
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.72536471,  0.10902547, -0.67967601],
       [-0.1486348 , -0.98889216,  0.        ],
       [-0.67212628,  0.10102351,  0.73351245]]), 'pose_fully_defined': False}}, {'patch': array([-0.00016267,  0.00552451, -0.00069696])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 1.0956143980461883)
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: 5.929
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.9286427  0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.716, std: 1.74 -> th=4.7429141610299705
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.65373203,  0.22613902, -0.7221465 ],
       [-0.32691326, -0.94505435,  0.        ],
       [-0.68246769,  0.23607926,  0.69174015]]), 'pose_fully_defined': False}}, {'patch': array([-0.00052137,  0.00239764, -0.00099773])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 1.1857285402574922)
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: 6.345
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.34486115 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.758, std: 1.865 -> th=5.075888921680724
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.6084148 ,  0.19766763, -0.76860845],
       [-0.30899109, -0.95106493,  0.        ],
       [-0.73099654,  0.23749316,  0.63971951]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00122977, -0.0085973 , -0.0007304 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 49 out of 23200 hypotheses for ramen_pack (evidence > 1.2689722304201805)
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: 6.713
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.71331027 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.795, std: 1.975 -> th=5.3706482188245275
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.71
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.71331027 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.795, std: 1.975 -> th=5.3706482188245275
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.71331027 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.795, std: 1.975 -> th=5.70631373250106
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: {'ramen_pack'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.72993446,  0.18066918, -0.65920736],
       [-0.24026396, -0.97070759,  0.        ],
       [-0.63989759,  0.15838377,  0.75196121]]), 'pose_fully_defined': False}}, {'patch': array([-0.04438365,  0.00070972, -0.04244877])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 1.3426620547061319)
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: 5.713
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.71331027 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.695, std: 1.675 -> th=4.570648218824528
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.62592415,  0.15277291, -0.76477408],
       [-0.2371151 , -0.97148156,  0.        ],
       [-0.74296392,  0.18133948,  0.64429854]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04534993, -0.01148757,  0.04238735])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 1.1426620547061317)
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: 6.174
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.17427388 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.741, std: 1.813 -> th=4.93941910375171
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.70626967,  0.08829545, -0.70241516],
       [-0.12405097, -0.99227585,  0.        ],
       [-0.6969896 ,  0.08713528,  0.71176747]]), 'pose_fully_defined': False}}, {'patch': array([-0.04347693,  0.00164445, -0.03995961])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 1.2348547759379276)
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: 5.174
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.17427388 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.641, std: 1.514 -> th=4.1394191037517105
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.70567863,  0.18400037, -0.68422331],
       [-0.25230672, -0.96764731,  0.        ],
       [-0.66208684,  0.17263414,  0.72927256]]), 'pose_fully_defined': False}}, {'patch': array([0.04738777, 0.05668813, 0.04793009])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 47 out of 23200 hypotheses for ramen_pack (evidence > 1.0348547759379274)
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: 5.559
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.5594669  0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.68, std: 1.629 -> th=4.447573522894456
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.54957033,  0.16256164, -0.8194792 ],
       [-0.28364878, -0.95892824,  0.        ],
       [-0.78582175,  0.23244427,  0.57310892]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00234167,  0.0001084 , -0.00345058])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 1.1118933807236138)
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: 5.967
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 5.96726209 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.72, std: 1.751 -> th=4.773809675879576
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.61081859,  0.17671462, -0.77179829],
       [-0.27791109, -0.9606068 ,  0.        ],
       [-0.74139469,  0.21449131,  0.63586744]]), 'pose_fully_defined': False}}, {'patch': array([-6.38442197e-06, -4.65646952e-03,  2.86867950e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 1.193452418969894)
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: 6.259
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.25865176 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.749, std: 1.839 -> th=5.006921409186919
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.26
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.25865176 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.749, std: 1.839 -> th=5.006921409186919
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.25865176 0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.749, std: 1.839 -> th=5.319853997261101
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: {'ramen_pack'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:54698 - "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([[-0.99050268,  0.13202733,  0.03838247],
       [-0.13212469, -0.9912331 ,  0.        ],
       [ 0.03804597, -0.00507127,  0.99926312]]), 'pose_fully_defined': False}}, {'patch': array([-0.00876049, -0.04599916,  0.01008219])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.1
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 1.2517303522967298)
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: 6.737
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.1
DEBUG:root:evidences for each object: [0.09979203 0.0995884  0.09998755 6.7370768  0.12399415 0.10014822
 0.09990249 0.4123856  0.10015046 0.10026671]
DEBUG:root:mean evidence: 0.797, std: 1.982 -> th=5.389661439296067
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
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/hot_sauce/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/hot_sauce/log.txt (NOTSET)>
