INFO:root:Logger initialized at 2025-09-29 15:21:43.768087
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/mustard_bottle/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F84A1280440,
                  '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/mustard_bottle',
                    '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': 'o3vgllfh'},
 '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([[ 0.83093344,  0.04968621, -0.55414881],
       [-0.05968904,  0.99821702,  0.        ],
       [ 0.55316077,  0.03307661,  0.83241762]]), '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: {'montys_brain', 'potted_meat_can', 'harissa_oil', 'numenta_mug', 'hot_sauce', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:64539 - "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([[ 0.93494861, -0.0141379 , -0.35450135],
       [ 0.01511986,  0.99988569, -0.        ],
       [ 0.35446083, -0.00536001,  0.9350555 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00431873,  0.02971543, -0.00182425])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.494
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: 0.499
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 0.02 seconds. New max evidence: 0.498
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 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'potted_meat_can', 'harissa_oil', 'numenta_mug', 'hot_sauce', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:64539 - "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([[ 0.91403368,  0.03261172, -0.40432524],
       [-0.03565622,  0.99936411,  0.        ],
       [ 0.40406814,  0.01441671,  0.91461527]]), 'pose_fully_defined': False}}, {'patch': array([-0.00154133,  0.01683279, -0.00837173])}]
INFO:root:Testing 3365 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.966
INFO:root:Testing 674 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: 0.73
INFO:root:Testing 2179 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: 0.986
INFO:root:Testing 8684 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 0.981
INFO:root:Testing 3206 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 0.01 seconds. New max evidence: 0.973
INFO:root:Testing 2633 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 0.98
INFO:root:Testing 6099 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: 0.98
INFO:root:Testing 6268 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 0.01 seconds. New max evidence: 0.988
INFO:root:Testing 5714 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: 0.979
INFO:root:Testing 8306 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 0.02 seconds. New max evidence: 0.991
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'potted_meat_can', 'harissa_oil', 'numenta_mug', 'hot_sauce', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:64539 - "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([[ 0.9142622 ,  0.04490673, -0.40262641],
       [-0.04905886,  0.99879589,  0.        ],
       [ 0.4021416 ,  0.01975239,  0.9153644 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00330458, -0.03785679,  0.00015435])}]
INFO:root:Testing 339 out of 14424 hypotheses for numenta_mug (evidence > 0.1982597339688167)
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: 1.425
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 0.1982597339688167)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.114
INFO:root:Testing 356 out of 14880 hypotheses for montys_heart (evidence > 0.1982597339688167)
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: 1.366
INFO:root:Testing 741 out of 23200 hypotheses for ramen_pack (evidence > 0.1982597339688167)
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: 1.395
INFO:root:Testing 636 out of 14864 hypotheses for hot_sauce (evidence > 0.1982597339688167)
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: 1.347
INFO:root:Testing 118 out of 12560 hypotheses for harissa_oil (evidence > 0.1982597339688167)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.371
INFO:root:Testing 1448 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1982597339688167)
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: 1.434
INFO:root:Testing 1268 out of 16976 hypotheses for mustard_bottle (evidence > 0.1982597339688167)
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: 1.402
INFO:root:Testing 1819 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1982597339688167)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.367
INFO:root:Testing 2405 out of 19024 hypotheses for potted_meat_can (evidence > 0.1982597339688167)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.377
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'potted_meat_can', 'harissa_oil', 'numenta_mug', 'hot_sauce', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:64539 - "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([[ 0.85051672, -0.01589643, -0.52570773],
       [ 0.01868706,  0.99982538, -0.        ],
       [ 0.52561593, -0.00982393,  0.85066526]]), 'pose_fully_defined': False}}, {'patch': array([-0.00294127, -0.03322872,  0.02191891])}]
INFO:root:Testing 123 out of 14424 hypotheses for numenta_mug (evidence > 0.2867602356224974)
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: 1.467
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 0.2867602356224974)
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: 0.671
INFO:root:Testing 275 out of 14880 hypotheses for montys_heart (evidence > 0.2867602356224974)
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: 1.705
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 0.2867602356224974)
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: 1.813
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 0.2867602356224974)
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: 1.746
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 0.2867602356224974)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.58
INFO:root:Testing 457 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2867602356224974)
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: 1.683
INFO:root:Testing 239 out of 16976 hypotheses for mustard_bottle (evidence > 0.2867602356224974)
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: 1.743
INFO:root:Testing 321 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2867602356224974)
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: 1.751
INFO:root:Testing 427 out of 19024 hypotheses for potted_meat_can (evidence > 0.2867602356224974)
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: 1.83
DEBUG:root:evidences for each object: [1.46651593 0.67069727 1.70500488 1.8128794  1.74564722 1.58037379
 1.68266475 1.7428211  1.75075976 1.83037577]
DEBUG:root:mean evidence: 1.599, std: 0.326 -> th=1.4643006149100177
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'numenta_mug', 'hot_sauce', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:64540 - "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([[ 0.54665575,  0.19947047,  0.81325212],
       [-0.3427849 ,  0.93941392,  0.        ],
       [-0.76398037, -0.27877055,  0.58191149]]), 'pose_fully_defined': False}}, {'patch': array([-0.00439433,  0.03508815,  0.03240231])}]
INFO:root:Testing 74 out of 14424 hypotheses for numenta_mug (evidence > 0.36607515372750443)
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: 1.929
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 0.36607515372750443)
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: 0.931
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 0.36607515372750443)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.008
INFO:root:Testing 138 out of 23200 hypotheses for ramen_pack (evidence > 0.36607515372750443)
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: 1.699
INFO:root:Testing 35 out of 14864 hypotheses for hot_sauce (evidence > 0.36607515372750443)
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: 1.398
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 0.36607515372750443)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.872
INFO:root:Testing 80 out of 21832 hypotheses for tomato_soup_can (evidence > 0.36607515372750443)
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: 2.048
INFO:root:Testing 96 out of 16976 hypotheses for mustard_bottle (evidence > 0.36607515372750443)
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: 1.737
INFO:root:Testing 66 out of 17728 hypotheses for tuna_fish_can (evidence > 0.36607515372750443)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.097
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 0.36607515372750443)
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: 2.189
DEBUG:root:evidences for each object: [1.92903    0.93129454 2.00816273 1.69913538 1.39819907 1.87184038
 2.04758254 1.73651546 2.09663001 2.18864081]
DEBUG:root:mean evidence: 1.791, std: 0.36 -> th=1.7509126468713796
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64540 - "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([[ 0.73953303,  0.21030192,  0.63942474],
       [-0.27352657,  0.96186445,  0.        ],
       [-0.61503992, -0.17489966,  0.76885369]]), 'pose_fully_defined': False}}, {'patch': array([-0.00607154,  0.0058741 , -0.00167791])}]
INFO:root:Testing 21 out of 14424 hypotheses for numenta_mug (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.403
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.379
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.503
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 0.4377281617178448)
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: 1.866
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 0.4377281617178448)
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: 1.469
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.205
INFO:root:Testing 48 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4377281617178448)
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: 2.376
INFO:root:Testing 55 out of 16976 hypotheses for mustard_bottle (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.206
INFO:root:Testing 51 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4377281617178448)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.431
INFO:root:Testing 37 out of 19024 hypotheses for potted_meat_can (evidence > 0.4377281617178448)
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: 2.689
DEBUG:root:evidences for each object: [2.40345269 1.3786626  2.50276483 1.86560271 1.46926148 2.20536913
 2.37585376 2.20637208 2.43124388 2.68864081]
DEBUG:root:mean evidence: 2.153, std: 0.419 -> th=2.1509126468713795
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.69
DEBUG:root:evidences for each object: [2.40345269 1.3786626  2.50276483 1.86560271 1.46926148 2.20536913
 2.37585376 2.20637208 2.43124388 2.68864081]
DEBUG:root:mean evidence: 2.153, std: 0.419 -> th=2.1509126468713795
DEBUG:root:evidences for each object: [2.40345269 1.3786626  2.50276483 1.86560271 1.46926148 2.20536913
 2.37585376 2.20637208 2.43124388 2.68864081]
DEBUG:root:mean evidence: 2.153, std: 0.419 -> th=2.2853446873008405
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'numenta_mug', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:64540 - "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([[ 0.06501888,  0.18138753,  0.98125996],
       [-0.94135067,  0.33742987,  0.        ],
       [-0.33110642, -0.92370972,  0.19268858]]), 'pose_fully_defined': False}}, {'patch': array([-0.01369164,  0.01208917, -0.00494415])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 0.5377281617178449)
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: 1.495
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.5377281617178449)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.741
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 0.5377281617178449)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.902
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 0.5377281617178449)
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: 1.249
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 0.5377281617178449)
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: 0.469
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 0.5377281617178449)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.476
INFO:root:Testing 39 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5377281617178449)
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: 2.607
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 0.5377281617178449)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.51
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5377281617178449)
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: 1.819
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 0.5377281617178449)
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: 2.52
DEBUG:root:evidences for each object: [1.49497427 1.74097646 2.90188313 1.24928853 0.46926148 2.47557827
 2.60708496 2.51034171 1.81934983 2.52019497]
DEBUG:root:mean evidence: 1.979, std: 0.721 -> th=2.321506504443344
INFO:root:current most likely hypothesis: montys_heart with evidence 2.9
DEBUG:root:evidences for each object: [1.49497427 1.74097646 2.90188313 1.24928853 0.46926148 2.47557827
 2.60708496 2.51034171 1.81934983 2.52019497]
DEBUG:root:mean evidence: 1.979, std: 0.721 -> th=2.321506504443344
DEBUG:root:evidences for each object: [1.49497427 1.74097646 2.90188313 1.24928853 0.46926148 2.47557827
 2.60708496 2.51034171 1.81934983 2.52019497]
DEBUG:root:mean evidence: 1.979, std: 0.721 -> th=2.4666006609710527
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'mustard_bottle', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64540 - "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([[ 0.38334477,  0.27435398,  0.88191648],
       [-0.58199125,  0.81319505,  0.        ],
       [-0.71717012, -0.51326768,  0.47140568]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01263186, -0.03495971,  0.01461467])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.5803766261108358)
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: 1.884
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.5803766261108358)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.838
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 0.5803766261108358)
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: 3.249
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.5803766261108358)
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: 1.672
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.469
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 0.5803766261108358)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.423
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5803766261108358)
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: 2.996
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 0.5803766261108358)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.89
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5803766261108358)
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: 0.819
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.5803766261108358)
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: 2.94
DEBUG:root:evidences for each object: [1.88374747 1.83774986 3.24894589 1.6716876  0.46926148 2.42261637
 2.99618983 2.89003191 0.81934983 2.93978861]
DEBUG:root:mean evidence: 2.118, std: 0.903 -> th=2.5991567144905265
INFO:root:current most likely hypothesis: montys_heart with evidence 3.25
DEBUG:root:evidences for each object: [1.88374747 1.83774986 3.24894589 1.6716876  0.46926148 2.42261637
 2.99618983 2.89003191 0.81934983 2.93978861]
DEBUG:root:mean evidence: 2.118, std: 0.903 -> th=2.5991567144905265
DEBUG:root:evidences for each object: [1.88374747 1.83774986 3.24894589 1.6716876  0.46926148 2.42261637
 2.99618983 2.89003191 0.81934983 2.93978861]
DEBUG:root:mean evidence: 2.118, std: 0.903 -> th=2.7616040091461844
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64540 - "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([[ 0.45915659,  0.2978219 ,  0.83694524],
       [-0.54417901,  0.83896913,  0.        ],
       [-0.70217122, -0.45544803,  0.54728664]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00116597,  0.01213732, -0.00248622])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.6497891786226315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.365
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 0.6497891786226315)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.138
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 0.6497891786226315)
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: 3.598
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.6497891786226315)
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: 1.333
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.469
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 0.6497891786226315)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.831
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6497891786226315)
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: 3.373
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 0.6497891786226315)
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: 3.181
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6497891786226315)
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: 0.868
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 0.6497891786226315)
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: 3.398
DEBUG:root:evidences for each object: [2.36484006 2.13789289 3.59764826 1.33266564 0.46926148 2.83096697
 3.37303893 3.18123865 0.86829217 3.39805593]
DEBUG:root:mean evidence: 2.355, std: 1.069 -> th=2.8781186092711217
INFO:root:current most likely hypothesis: montys_heart with evidence 3.6
DEBUG:root:evidences for each object: [2.36484006 2.13789289 3.59764826 1.33266564 0.46926148 2.83096697
 3.37303893 3.18123865 0.86829217 3.39805593]
DEBUG:root:mean evidence: 2.355, std: 1.069 -> th=2.8781186092711217
DEBUG:root:evidences for each object: [2.36484006 2.13789289 3.59764826 1.33266564 0.46926148 2.83096697
 3.37303893 3.18123865 0.86829217 3.39805593]
DEBUG:root:mean evidence: 2.355, std: 1.069 -> th=3.0580010223505667
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64542 - "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([[-0.78845559,  0.06822353,  0.61129644],
       [-0.08620594, -0.99627734,  0.        ],
       [ 0.60902079, -0.05269739,  0.79140171]]), 'pose_fully_defined': False}}, {'patch': array([-0.0089851 , -0.00598069, -0.02565513])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 0.7195296523177803)
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: 1.365
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 0.7195296523177803)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.138
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 0.7195296523177803)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.598
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.7195296523177803)
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: 1.458
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.469
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 0.7195296523177803)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.831
INFO:root:Testing 20 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7195296523177803)
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: 2.373
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 0.7195296523177803)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.181
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7195296523177803)
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: 1.301
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 0.7195296523177803)
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: 2.398
DEBUG:root:evidences for each object: [1.36484006 1.13789289 2.59764826 1.45822713 0.46926148 1.83096697
 2.37303893 2.18123865 1.30067483 2.39805593]
DEBUG:root:mean evidence: 1.711, std: 0.645 -> th=2.0781186092711215
INFO:root:current most likely hypothesis: montys_heart with evidence 2.6
DEBUG:root:evidences for each object: [1.36484006 1.13789289 2.59764826 1.45822713 0.46926148 1.83096697
 2.37303893 2.18123865 1.30067483 2.39805593]
DEBUG:root:mean evidence: 1.711, std: 0.645 -> th=2.0781186092711215
DEBUG:root:evidences for each object: [1.36484006 1.13789289 2.59764826 1.45822713 0.46926148 1.83096697
 2.37303893 2.18123865 1.30067483 2.39805593]
DEBUG:root:mean evidence: 1.711, std: 0.645 -> th=2.2080010223505666
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
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', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64542 - "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([[-0.78214649,  0.07177034,  0.61894741],
       [-0.09137684, -0.99581638,  0.        ],
       [ 0.61635797, -0.05655746,  0.78543243]]), 'pose_fully_defined': False}}, {'patch': array([-0.00065   ,  0.02262142, -0.0011853 ])}]
INFO:root:Testing 157 out of 14424 hypotheses for numenta_mug (evidence > 0.5195296523177801)
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: 0.723
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.5195296523177801)
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: 0.743
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 0.5195296523177801)
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: 1.598
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.5195296523177801)
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: 0.528
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.469
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 0.5195296523177801)
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: 0.831
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5195296523177801)
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: 1.373
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 0.5195296523177801)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.308
INFO:root:Testing 205 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5195296523177801)
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: 1.704
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 0.5195296523177801)
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: 1.398
DEBUG:root:evidences for each object: [0.72285411 0.74302052 1.59764826 0.52831872 0.46926148 0.83096697
 1.37303893 2.30784015 1.70435174 1.39805593]
DEBUG:root:mean evidence: 1.168, std: 0.571 -> th=1.8462721200175345
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64542 - "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([[-0.71238338,  0.09228869,  0.69569585],
       [-0.12847557, -0.99171267,  0.        ],
       [ 0.68993039, -0.08937992,  0.71833647]]), 'pose_fully_defined': False}}, {'patch': array([-0.04745913,  0.00222667,  0.03253537])}]
INFO:root:Testing 136 out of 14424 hypotheses for numenta_mug (evidence > 0.4615680300043836)
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: 0.814
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.4615680300043836)
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: 0.451
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 0.4615680300043836)
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: 0.598
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.4615680300043836)
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: 0.458
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.4615680300043836)
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: 0.43
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 0.4615680300043836)
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: 0.886
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4615680300043836)
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: 1.123
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 0.4615680300043836)
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: 1.308
INFO:root:Testing 381 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4615680300043836)
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: 0.915
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.4615680300043836)
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: 1.761
DEBUG:root:evidences for each object: [0.81376321 0.45096346 0.59764826 0.45822713 0.43040391 0.88582309
 1.12288005 1.30784015 0.91517765 1.76140111]
DEBUG:root:mean evidence: 0.874, std: 0.408 -> th=1.4091208906533688
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.76
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:192.168.1.217:64544 - "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([[ 0.39514907,  0.01393499,  0.91851131],
       [-0.03524324,  0.99937876,  0.        ],
       [-0.9179407 , -0.03237132,  0.39539471]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04595797,  0.02613409, -0.0311029 ])}]
INFO:root:Testing 212 out of 14424 hypotheses for numenta_mug (evidence > 0.35228022266334214)
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: 1.107
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 0.35228022266334214)
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: 0.514
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 0.35228022266334214)
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: 0.729
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 0.35228022266334214)
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: 0.816
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 0.35228022266334214)
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: 0.859
INFO:root:Testing 36 out of 12560 hypotheses for harissa_oil (evidence > 0.35228022266334214)
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: 0.824
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 0.35228022266334214)
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: 1.074
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 0.35228022266334214)
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: 0.573
INFO:root:Testing 354 out of 17728 hypotheses for tuna_fish_can (evidence > 0.35228022266334214)
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: 0.709
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 0.35228022266334214)
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: 1.746
DEBUG:root:evidences for each object: [1.1074607  0.51443874 0.72894868 0.81632052 0.85886753 0.82401463
 1.07355816 0.57283547 0.70929974 1.74607698]
DEBUG:root:mean evidence: 0.895, std: 0.335 -> th=1.3968615829597923
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.97905104,  0.05527868,  0.19596765],
       [-0.05637171, -0.99840985,  0.        ],
       [ 0.19565604, -0.01104703,  0.98061036]]), 'pose_fully_defined': False}}, {'patch': array([-0.01402463, -0.04634547, -0.02482188])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 0.349215395739948)
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: 1.003
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.349215395739948)
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: 0.231
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 0.349215395739948)
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: 0.775
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 0.349215395739948)
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: 0.727
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 0.349215395739948)
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: 1.008
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 0.349215395739948)
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: 0.349
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 0.349215395739948)
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: 0.707
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.349215395739948)
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: 0.785
INFO:root:Testing 88 out of 17728 hypotheses for tuna_fish_can (evidence > 0.349215395739948)
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: 1.105
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.349215395739948)
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: 1.684
DEBUG:root:evidences for each object: [1.00331228 0.23071489 0.77510178 0.72705048 1.00836591 0.34872211
 0.70742494 0.78478812 1.10458864 1.68357614]
DEBUG:root:mean evidence: 0.837, std: 0.386 -> th=1.3468609145179837
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.95274814,  0.11410177,  0.28151691],
       [-0.11891097, -0.99290492,  0.        ],
       [ 0.27951952, -0.03347545,  0.95955627]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00029948,  0.02096935, -0.0065034 ])}]
INFO:root:Testing 31 out of 14424 hypotheses for numenta_mug (evidence > 0.3367152286294959)
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: 0.337
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.3367152286294959)
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: 0.376
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.3367152286294959)
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: 0.746
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 0.3367152286294959)
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: 1.029
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 0.3367152286294959)
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: 0.336
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3367152286294959)
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: 0.644
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 0.3367152286294959)
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: 0.706
INFO:root:Testing 142 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3367152286294959)
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: 1.568
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 0.3367152286294959)
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: 1.606
DEBUG:root:evidences for each object: [0.33663503 0.23071489 0.37616837 0.74595503 1.02851946 0.33574029
 0.64409904 0.70623157 1.56783458 1.60559195]
DEBUG:root:mean evidence: 0.758, std: 0.474 -> th=1.2844735582409375
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.96240398,  0.07717321,  0.26042827],
       [-0.07993139, -0.99680037,  0.        ],
       [ 0.25959499, -0.02081639,  0.9654932 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00060733,  0.00372078, -0.00416131])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 0.3211183895602343)
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: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.3211183895602343)
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: 0.351
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.3211183895602343)
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: 0.78
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 0.3211183895602343)
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: 1.057
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 0.3211183895602343)
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: 0.317
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3211183895602343)
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: 0.592
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 0.3211183895602343)
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: 0.844
INFO:root:Testing 197 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3211183895602343)
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: 1.966
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 0.3211183895602343)
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: 1.541
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 0.78016085 1.05680826 0.31686461
 0.59221651 0.8441714  1.96604564 1.54074733]
DEBUG:root:mean evidence: 0.8, std: 0.548 -> th=1.572836508727526
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.97
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 0.78016085 1.05680826 0.31686461
 0.59221651 0.8441714  1.96604564 1.54074733]
DEBUG:root:mean evidence: 0.8, std: 0.548 -> th=1.572836508727526
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 0.78016085 1.05680826 0.31686461
 0.59221651 0.8441714  1.96604564 1.54074733]
DEBUG:root:mean evidence: 0.8, std: 0.548 -> th=1.6711387905229964
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: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.97822621,  0.10801024,  0.17722095],
       [-0.10974742, -0.99395951,  0.        ],
       [ 0.17615045, -0.01944954,  0.98417109]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00185962, -0.03462577,  0.01180975])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.3932091271818814)
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: 0.9
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 0.3932091271818814)
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: 1.285
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3932091271818814)
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: 0.49
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 0.3932091271818814)
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: 1.013
INFO:root:Testing 164 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3932091271818814)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.338
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.3932091271818814)
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: 1.48
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 0.90003919 1.28540936 0.31686461
 0.48969027 1.01255265 2.33759066 1.48046395]
DEBUG:root:mean evidence: 0.873, std: 0.644 -> th=1.8700725291329008
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.94048517,  0.05430273,  0.33546812],
       [-0.05764305, -0.99833726,  0.        ],
       [ 0.33491032, -0.01933741,  0.94205156]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00130544,  0.0197304 , -0.0029383 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.46751813228322514)
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: 1.152
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 0.46751813228322514)
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: 1.408
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.46751813228322514)
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: 0.319
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.46751813228322514)
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: 1.215
INFO:root:Testing 164 out of 17728 hypotheses for tuna_fish_can (evidence > 0.46751813228322514)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.809
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.46751813228322514)
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: 1.362
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.15163873 1.40771272 0.31686461
 0.31947545 1.21542339 2.80875074 1.36200804]
DEBUG:root:mean evidence: 0.948, std: 0.776 -> th=2.24700058930879
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64545 - "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([[-0.94440884,  0.09585067,  0.314491  ],
       [-0.10097404, -0.99488906,  0.        ],
       [ 0.31288366, -0.03175543,  0.94926045]]), 'pose_fully_defined': False}}, {'patch': array([-0.0071822 ,  0.02848475, -0.01042337])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.5617501473271975)
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: 1.398
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 0.5617501473271975)
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: 1.442
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.5617501473271975)
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: 1.414
INFO:root:Testing 164 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5617501473271975)
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: 3.264
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.5617501473271975)
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: 1.279
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.39821707 1.44159605 0.31686461
 0.31947545 1.41420315 3.26359929 1.27889932]
DEBUG:root:mean evidence: 1.034, std: 0.901 -> th=2.610879429402417
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64547 - "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([[-0.99439219, -0.01536767, -0.10463271],
       [ 0.01545249, -0.9998806 ,  0.        ],
       [-0.10462021, -0.00161684,  0.99451093]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00192811, -0.03199423,  0.0031826 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.6527198573506041)
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: 1.832
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.6527198573506041)
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: 1.61
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.6527198573506041)
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: 1.651
INFO:root:Testing 148 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6527198573506041)
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: 3.512
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.6527198573506041)
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: 1.35
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.83214449 1.60967928 0.31686461
 0.31947545 1.6505789  3.51199747 1.34995406]
DEBUG:root:mean evidence: 1.149, std: 1.005 -> th=2.8095979766491026
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64547 - "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([[ 0.32498706, -0.01615261, -0.94558051],
       [ 0.04964105,  0.99876712, -0.        ],
       [ 0.94441473, -0.04693961,  0.32538823]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00579731, -0.00597057, -0.00810707])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.7023994941622753)
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: 1.675
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 0.7023994941622753)
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: 1.756
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.7023994941622753)
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: 1.048
INFO:root:Testing 150 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7023994941622753)
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: 3.102
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.7023994941622753)
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: 0.392
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.67541381 1.75601731 0.31686461
 0.31947545 1.0484915  3.10238907 0.39197123]
DEBUG:root:mean evidence: 0.951, std: 0.906 -> th=2.4819112527053244
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64547 - "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([[-0.44741816,  0.00368656,  0.89431728],
       [-0.00823934, -0.99996606,  0.        ],
       [ 0.89428693, -0.00736858,  0.44743334]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00513844, -0.00992441,  0.000622  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.6204778131763309)
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: 1.541
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 0.6204778131763309)
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: 1.411
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.6204778131763309)
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: 0.813
INFO:root:Testing 149 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6204778131763309)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.322
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.392
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.54080765 1.41118828 0.31686461
 0.31947545 0.81276329 2.32151862 0.39197123]
DEBUG:root:mean evidence: 0.802, std: 0.68 -> th=1.8572148943392424
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.32
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.54080765 1.41118828 0.31686461
 0.31947545 0.81276329 2.32151862 0.39197123]
DEBUG:root:mean evidence: 0.802, std: 0.68 -> th=1.8572148943392424
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.54080765 1.41118828 0.31686461
 0.31947545 0.81276329 2.32151862 0.39197123]
DEBUG:root:mean evidence: 0.802, std: 0.68 -> th=1.973290825235445
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: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64547 - "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([[-0.43913252,  0.00479963, -0.89840948],
       [-0.01092914, -0.99994028,  0.        ],
       [-0.89835582,  0.00981884,  0.43915875]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00122428, -0.02221129, -0.00247669])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 0.4643037235848104)
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: 0.924
INFO:root:Testing 77 out of 14864 hypotheses for hot_sauce (evidence > 0.4643037235848104)
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: 0.967
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 0.4643037235848104)
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: 0.963
INFO:root:Testing 237 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4643037235848104)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.082
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.392
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 0.9244867  0.96674973 0.31686461
 0.31947545 0.96307952 2.08237433 0.39197123]
DEBUG:root:mean evidence: 0.687, std: 0.545 -> th=1.6658994637783366
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64547 - "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([[-0.03063238, -0.06543354, -0.99738664],
       [ 0.90566941, -0.42398456,  0.        ],
       [-0.42287654, -0.90330257,  0.07224881]]), 'pose_fully_defined': False}}, {'patch': array([-0.01528422,  0.02366387,  0.00327647])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 0.41647486594458405)
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: 1.191
INFO:root:Testing 82 out of 14864 hypotheses for hot_sauce (evidence > 0.41647486594458405)
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: 1.116
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 80 out of 16976 hypotheses for mustard_bottle (evidence > 0.41647486594458405)
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: 1.266
INFO:root:Testing 377 out of 17728 hypotheses for tuna_fish_can (evidence > 0.41647486594458405)
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: 1.773
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.392
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.19117641 1.11556581 0.31686461
 0.31947545 1.26639594 1.77318458 0.39197123]
DEBUG:root:mean evidence: 0.728, std: 0.524 -> th=1.4185476604180502
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64549 - "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([[-0.21816536,  0.06862914, -0.97349572],
       [-0.30007682, -0.95391504,  0.        ],
       [-0.92863221,  0.2921235 ,  0.22870524]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01342082, -0.01073291, -0.00194512])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.351
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 0.35463691510451256)
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: 1.664
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 0.35463691510451256)
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: 1.503
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 136 out of 16976 hypotheses for mustard_bottle (evidence > 0.35463691510451256)
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: 1.675
INFO:root:Testing 669 out of 17728 hypotheses for tuna_fish_can (evidence > 0.35463691510451256)
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: 1.478
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 0.35463691510451256)
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: 0.797
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.35123028 1.66382016 1.50293756 0.31686461
 0.31947545 1.67513997 1.47823702 0.79691843]
DEBUG:root:mean evidence: 0.866, std: 0.604 -> th=1.340111974520265
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64549 - "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([[-0.24236527,  0.07642225, -0.96717047],
       [-0.30072287, -0.95371157,  0.        ],
       [-0.92240166,  0.29085028,  0.25412848]]), 'pose_fully_defined': False}}, {'patch': array([0.00549227, 0.02349148, 0.00192296])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.3350279936300662)
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: 0.318
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 0.3350279936300662)
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: 2.129
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 0.3350279936300662)
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: 1.882
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 91 out of 16976 hypotheses for mustard_bottle (evidence > 0.3350279936300662)
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: 1.969
INFO:root:Testing 437 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3350279936300662)
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: 1.398
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 0.3350279936300662)
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: 1.241
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  2.12916108 1.88195015 0.31686461
 0.31947545 1.96930499 1.39844524 1.24107334]
DEBUG:root:mean evidence: 1.013, std: 0.752 -> th=1.7033288615891808
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64549 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64549 - "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([[-0.22040349,  0.08549956, -0.97165432],
       [-0.36166382, -0.93230858,  0.        ],
       [-0.90588166,  0.35141221,  0.23640616]]), 'pose_fully_defined': False}}, {'patch': array([-0.00027811,  0.01129132, -0.00498959])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 11 out of 23200 hypotheses for ramen_pack (evidence > 0.4258322153972951)
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: 2.55
INFO:root:Testing 52 out of 14864 hypotheses for hot_sauce (evidence > 0.4258322153972951)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.149
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 0.4258322153972951)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.27
INFO:root:Testing 233 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4258322153972951)
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: 1.773
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 0.4258322153972951)
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: 1.691
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  2.55041753 2.14850034 0.31686461
 0.31947545 2.26966548 1.77306052 1.69078904]
DEBUG:root:mean evidence: 1.194, std: 0.921 -> th=2.0403340214154353
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64549 - "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([[-0.26246468,  0.17631734, -0.94869621],
       [-0.55763267, -0.83008783,  0.        ],
       [-0.78750117,  0.529024  ,  0.31618904]]), 'pose_fully_defined': False}}, {'patch': array([-0.00287907, -0.00907461,  0.00302445])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.5100835053538586)
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: 3.031
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 0.5100835053538586)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.58
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 0.5100835053538586)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.61
INFO:root:Testing 189 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5100835053538586)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.14
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 0.5100835053538586)
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: 2.139
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  3.03077935 2.58027817 0.31686461
 0.31947545 2.60959446 2.13951174 2.1389073 ]
DEBUG:root:mean evidence: 1.4, std: 1.125 -> th=2.424623482551569
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.03
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  3.03077935 2.58027817 0.31686461
 0.31947545 2.60959446 2.13951174 2.1389073 ]
DEBUG:root:mean evidence: 1.4, std: 1.125 -> th=2.424623482551569
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  3.03077935 2.58027817 0.31686461
 0.31947545 2.60959446 2.13951174 2.1389073 ]
DEBUG:root:mean evidence: 1.4, std: 1.125 -> th=2.576162450211042
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64552 - "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([[-0.20386732,  0.02880412, -0.9785747 ],
       [-0.13989908, -0.99016577,  0.        ],
       [-0.96895117,  0.1369017 ,  0.20589211]]), 'pose_fully_defined': False}}, {'patch': array([-0.0034261 ,  0.00282744,  0.00177401])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 0.6061558706378922)
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: 3.398
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 0.6061558706378922)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.903
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 0.6061558706378922)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.942
INFO:root:Testing 139 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6061558706378922)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.437
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 0.6061558706378922)
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: 2.577
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  3.39772081 2.90277021 0.31686461
 0.31947545 2.94206556 2.43682014 2.57673955]
DEBUG:root:mean evidence: 1.576, std: 1.297 -> th=2.718176648129113
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64553 - "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([[ 0.05567154,  0.02718199, -0.99807906],
       [-0.43875143,  0.89860847,  0.        ],
       [ 0.8968823 ,  0.43790862,  0.06195305]]), 'pose_fully_defined': False}}, {'patch': array([-9.21475270e-05, -3.07097548e-02,  9.21167453e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.6795441620322782)
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: 3.766
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 0.6795441620322782)
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: 3.317
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 0.6795441620322782)
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: 3.398
INFO:root:Testing 92 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6795441620322782)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.573
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 0.6795441620322782)
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: 3.021
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  3.76647907 3.31713656 0.31686461
 0.31947545 3.39823359 2.5729357  3.02055008]
DEBUG:root:mean evidence: 1.758, std: 1.484 -> th=3.013183252990392
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64553 - "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([[ 1.77187589e-01, -1.76021060e-04, -9.84177081e-01],
       [ 9.93415929e-04,  9.99999507e-01, -0.00000000e+00],
       [ 9.84176596e-01, -9.77697190e-04,  1.77187676e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00457459,  0.00144915, -0.0003269 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.7532958132475978)
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: 4.24
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 0.7532958132475978)
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: 3.748
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 0.7532958132475978)
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: 3.805
INFO:root:Testing 69 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7532958132475978)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.671
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 0.7532958132475978)
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: 3.446
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  4.24032569 3.74844139 0.31686461
 0.31947545 3.80503726 2.67050214 3.4455421 ]
DEBUG:root:mean evidence: 1.942, std: 1.682 -> th=3.3922605554993184
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64553 - "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([[ 0.30690832,  0.01666076, -0.95159324],
       [-0.05420596,  0.99852978,  0.        ],
       [ 0.95019419,  0.05158203,  0.30736021]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00423966,  0.01302061, -0.00026295])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.8480651388748295)
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: 4.67
INFO:root:Testing 19 out of 14864 hypotheses for hot_sauce (evidence > 0.8480651388748295)
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: 4.23
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 0.8480651388748295)
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: 4.221
INFO:root:Testing 68 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8480651388748295)
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: 3.013
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 0.8480651388748295)
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: 3.895
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  4.66951593 4.22988449 0.31686461
 0.31947545 4.2208488  3.0126314  3.89514947]
DEBUG:root:mean evidence: 2.153, std: 1.893 -> th=3.735612745766584
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64553 - "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([[-0.12549835,  0.11716438, -0.98515109],
       [-0.68241969, -0.73096057,  0.        ],
       [-0.72010661,  0.67228651,  0.17168963]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00105246,  0.00947795, -0.00326192])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.933903186441646)
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: 5.15
INFO:root:Testing 287 out of 14864 hypotheses for hot_sauce (evidence > 0.933903186441646)
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: 4.688
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 0.933903186441646)
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: 4.539
INFO:root:Testing 68 out of 17728 hypotheses for tuna_fish_can (evidence > 0.933903186441646)
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: 3.177
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 0.933903186441646)
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: 4.319
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  5.14954318 4.68811229 0.31686461
 0.31947545 4.53877487 3.17653768 4.31854515]
DEBUG:root:mean evidence: 2.338, std: 2.089 -> th=4.119634547247604
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64553 - "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([[ 0.16076653,  0.04228815, -0.98608612],
       [-0.25438734,  0.96710242,  0.        ],
       [ 0.95364627,  0.25084782,  0.16623527]]), 'pose_fully_defined': False}}, {'patch': array([-0.00874283, -0.02003646,  0.00279171])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.0299086368119008)
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: 5.462
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 1.0299086368119008)
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: 5.107
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.0299086368119008)
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: 4.947
INFO:root:Testing 68 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0299086368119008)
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: 3.28
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 1.0299086368119008)
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: 4.75
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  5.4616645  5.10705147 0.31686461
 0.31947545 4.94683101 3.28023458 4.75022999]
DEBUG:root:mean evidence: 2.505, std: 2.267 -> th=4.369331599613318
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.46
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  5.4616645  5.10705147 0.31686461
 0.31947545 4.94683101 3.28023458 4.75022999]
DEBUG:root:mean evidence: 2.505, std: 2.267 -> th=4.369331599613318
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  5.4616645  5.10705147 0.31686461
 0.31947545 4.94683101 3.28023458 4.75022999]
DEBUG:root:mean evidence: 2.505, std: 2.267 -> th=4.64241482458915
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
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', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.66814311, -0.04643975, -0.74258207],
       [ 0.0693384 ,  0.9975932 , -0.        ],
       [ 0.74079482, -0.05148945,  0.66975508]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01002273, -0.01083636,  0.00617887])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.0923328999033295)
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: 5.876
INFO:root:Testing 34 out of 14864 hypotheses for hot_sauce (evidence > 1.0923328999033295)
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: 5.477
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.0923328999033295)
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: 5.364
INFO:root:Testing 68 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0923328999033295)
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: 3.177
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 1.0923328999033295)
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: 5.154
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  5.87618891 5.47651515 0.31686461
 0.31947545 5.36442333 3.1768572  5.1542229 ]
DEBUG:root:mean evidence: 2.655, std: 2.448 -> th=4.700951130990253
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.66528884,  0.00704935, -0.74655279],
       [-0.01059533,  0.99994387,  0.        ],
       [ 0.74651089,  0.00790998,  0.66532618]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0026217 ,  0.01541554, -0.00444603])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.1752377827475629)
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: 6.355
INFO:root:Testing 32 out of 14864 hypotheses for hot_sauce (evidence > 1.1752377827475629)
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: 5.953
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.1752377827475629)
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: 5.802
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1752377827475629)
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: 3.619
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.1752377827475629)
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: 5.618
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  6.35473035 5.95321741 0.31686461
 0.31947545 5.80163046 3.61859007 5.61849937]
DEBUG:root:mean evidence: 2.885, std: 2.671 -> th=5.083784276269918
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.75289257, -0.01024825, -0.65806364],
       [ 0.01361057,  0.99990737, -0.        ],
       [ 0.65800268, -0.00895662,  0.75296232]]), 'pose_fully_defined': False}}, {'patch': array([0.00705603, 0.02938936, 0.00230325])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.2709460690674792)
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: 6.815
INFO:root:Testing 32 out of 14864 hypotheses for hot_sauce (evidence > 1.2709460690674792)
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: 6.25
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.2709460690674792)
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: 6.101
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2709460690674792)
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: 4.064
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.2709460690674792)
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: 6.08
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  6.81459475 6.25026625 0.31686461
 0.31947545 6.10059654 4.06382208 6.08045032]
DEBUG:root:mean evidence: 3.082, std: 2.858 -> th=5.451675798148021
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.84269315, -0.03772004, -0.53707118],
       [ 0.04471653,  0.99899972, -0.        ],
       [ 0.53653395, -0.02401596,  0.84353693]]), 'pose_fully_defined': False}}, {'patch': array([-0.00168222, -0.0186602 ,  0.00395573])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 307 out of 23200 hypotheses for ramen_pack (evidence > 1.362918949537005)
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: 7.258
INFO:root:Testing 32 out of 14864 hypotheses for hot_sauce (evidence > 1.362918949537005)
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: 6.72
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.362918949537005)
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: 6.478
INFO:root:Testing 74 out of 17728 hypotheses for tuna_fish_can (evidence > 1.362918949537005)
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: 4.533
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.362918949537005)
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: 6.543
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  7.25779086 6.72039632 0.31686461
 0.31947545 6.47826442 4.53325173 6.54273425]
DEBUG:root:mean evidence: 3.304, std: 3.074 -> th=5.806232688761085
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.91041482, -0.06486462, -0.40857978],
       [ 0.07106717,  0.99747153, -0.        ],
       [ 0.4075467 , -0.02903661,  0.91272261]]), 'pose_fully_defined': False}}, {'patch': array([0.00294438, 0.01681535, 0.00160783])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 304 out of 23200 hypotheses for ramen_pack (evidence > 1.4515581721902713)
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: 7.689
INFO:root:Testing 32 out of 14864 hypotheses for hot_sauce (evidence > 1.4515581721902713)
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: 7.186
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 1.4515581721902713)
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: 6.86
INFO:root:Testing 94 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4515581721902713)
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: 5.014
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.4515581721902713)
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: 6.948
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  7.68881154 7.18625442 0.31686461
 0.31947545 6.85997486 5.01362398 6.94787047]
DEBUG:root:mean evidence: 3.52, std: 3.283 -> th=6.151049232397666
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64555 - "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([[ 0.92675317, -0.11326503, -0.35818933],
       [ 0.12131436,  0.99261414, -0.        ],
       [ 0.35554379, -0.04345351,  0.93364897]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00375656,  0.00935683, -0.00407253])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 269 out of 23200 hypotheses for ramen_pack (evidence > 1.537762308099416)
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: 8.026
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 1.537762308099416)
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: 7.611
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.537762308099416)
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: 7.207
INFO:root:Testing 675 out of 17728 hypotheses for tuna_fish_can (evidence > 1.537762308099416)
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: 5.448
INFO:root:Testing 210 out of 19024 hypotheses for potted_meat_can (evidence > 1.537762308099416)
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: 7.318
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.02599101 7.61093118 0.31686461
 0.31947545 7.2067314  5.44825004 7.31773586]
DEBUG:root:mean evidence: 3.712, std: 3.467 -> th=6.420792810710047
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.03
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.02599101 7.61093118 0.31686461
 0.31947545 7.2067314  5.44825004 7.31773586]
DEBUG:root:mean evidence: 3.712, std: 3.467 -> th=6.420792810710047
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.02599101 7.61093118 0.31686461
 0.31947545 7.2067314  5.44825004 7.31773586]
DEBUG:root:mean evidence: 3.712, std: 3.467 -> th=6.8220923613794255
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.89069534, -0.16762878, -0.42256645],
       [ 0.18495296,  0.98274737, -0.        ],
       [ 0.41527607, -0.07815492,  0.90633194]]), 'pose_fully_defined': False}}, {'patch': array([-0.00340877, -0.05484773,  0.02711036])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 158 out of 23200 hypotheses for ramen_pack (evidence > 1.6051982026775118)
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: 7.883
INFO:root:Testing 72 out of 14864 hypotheses for hot_sauce (evidence > 1.6051982026775118)
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: 7.94
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.6051982026775118)
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: 7.347
INFO:root:Testing 502 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6051982026775118)
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: 5.315
INFO:root:Testing 146 out of 19024 hypotheses for potted_meat_can (evidence > 1.6051982026775118)
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: 7.54
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  7.88275425 7.94029258 0.31686461
 0.31947545 7.34730456 5.31496855 7.53950335]
DEBUG:root:mean evidence: 3.753, std: 3.519 -> th=6.35223406700041
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.94
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  7.88275425 7.94029258 0.31686461
 0.31947545 7.34730456 5.31496855 7.53950335]
DEBUG:root:mean evidence: 3.753, std: 3.519 -> th=6.35223406700041
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  7.88275425 7.94029258 0.31686461
 0.31947545 7.34730456 5.31496855 7.53950335]
DEBUG:root:mean evidence: 3.753, std: 3.519 -> th=6.749248696187935
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
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', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64558 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.92404637, -0.08324146, -0.37310746],
       [ 0.08972033,  0.995967  , -0.        ],
       [ 0.37160271, -0.03347533,  0.92778814]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00146342,  0.03293584, -0.00983955])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 92 out of 23200 hypotheses for ramen_pack (evidence > 1.5880585167501025)
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: 8.327
INFO:root:Testing 58 out of 14864 hypotheses for hot_sauce (evidence > 1.5880585167501025)
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: 8.384
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.5880585167501025)
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: 7.757
INFO:root:Testing 248 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5880585167501025)
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: 5.734
INFO:root:Testing 36 out of 19024 hypotheses for potted_meat_can (evidence > 1.5880585167501025)
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: 8.01
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.32720971 8.38419491 0.31686461
 0.31947545 7.75657754 5.73396831 8.01043713]
DEBUG:root:mean evidence: 3.972, std: 3.736 -> th=6.707355924842618
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.94162089,  0.02912681, -0.33541277],
       [-0.03091785,  0.99952193,  0.        ],
       [ 0.33525241,  0.01037024,  0.94207127]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00175737,  0.02314772, -0.00185259])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 95 out of 23200 hypotheses for ramen_pack (evidence > 1.6768389812106541)
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: 8.706
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 1.6768389812106541)
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: 8.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 64 out of 16976 hypotheses for mustard_bottle (evidence > 1.6768389812106541)
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: 8.024
INFO:root:Testing 569 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6768389812106541)
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: 6.15
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 1.6768389812106541)
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: 8.443
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.70604715 8.82821582 0.31686461
 0.31947545 8.02422632 6.14996475 8.44292938]
DEBUG:root:mean evidence: 4.166, std: 3.926 -> th=7.062572657852049
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.93514733,  0.06444025, -0.34834887],
       [-0.06874617,  0.99763418,  0.        ],
       [ 0.34752474,  0.02394765,  0.93736496]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00015606,  0.01094782, -0.00955185])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 1.765643164463012)
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: 9.128
INFO:root:Testing 116 out of 14864 hypotheses for hot_sauce (evidence > 1.765643164463012)
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: 9.3
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 52 out of 16976 hypotheses for mustard_bottle (evidence > 1.765643164463012)
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: 8.263
INFO:root:Testing 426 out of 17728 hypotheses for tuna_fish_can (evidence > 1.765643164463012)
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: 6.527
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 1.765643164463012)
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: 8.793
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.12758489 9.29972147 0.31686461
 0.31947545 8.26331786 6.52684012 8.79303234]
DEBUG:root:mean evidence: 4.352, std: 4.112 -> th=7.439777172217593
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64558 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.84152173,  0.04959183, -0.53794221],
       [-0.05882907,  0.99826807,  0.        ],
       [ 0.53701053,  0.03164664,  0.84298172]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01077177,  0.01170051, -0.00729478])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 1.8599442930543981)
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: 9.515
INFO:root:Testing 116 out of 14864 hypotheses for hot_sauce (evidence > 1.8599442930543981)
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: 8.3
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 1.8599442930543981)
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: 7.263
INFO:root:Testing 424 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8599442930543981)
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: 5.527
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 1.8599442930543981)
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: 7.793
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.51510689 8.29972147 0.31686461
 0.31947545 7.26331786 5.52684012 7.79303234]
DEBUG:root:mean evidence: 3.99, std: 3.804 -> th=7.612085513246777
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64558 - "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([[ 0.98229953,  0.01477386, -0.1867334 ],
       [-0.01503837,  0.99988692,  0.        ],
       [ 0.18671228,  0.00280817,  0.98241063]]), 'pose_fully_defined': False}}, {'patch': array([-0.00726875,  0.00858859,  0.00014968])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 1.9030213783116938)
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: 9.689
INFO:root:Testing 64 out of 14864 hypotheses for hot_sauce (evidence > 1.9030213783116938)
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: 7.3
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.9030213783116938)
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: 7.065
INFO:root:Testing 310 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9030213783116938)
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: 4.527
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.9030213783116938)
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: 6.793
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.68938264 7.29972147 0.31686461
 0.31947545 7.06455353 4.52684012 6.79303234]
DEBUG:root:mean evidence: 3.688, std: 3.58 -> th=7.751506114839143
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64559 - "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([[-0.92775574,  0.15057439,  0.34146249],
       [-0.16020334, -0.98708403,  0.        ],
       [ 0.33705217, -0.05470343,  0.9398954 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.03946575, -0.02798998,  0.01888908])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 1.9378765287097854)
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: 9.521
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 1.9378765287097854)
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: 6.3
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 1.9378765287097854)
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: 6.957
INFO:root:Testing 230 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9378765287097854)
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: 4.953
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 1.9378765287097854)
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: 6.656
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.52119254 6.29972147 0.31686461
 0.31947545 6.95726424 4.9529429  6.65636169]
DEBUG:root:mean evidence: 3.589, std: 3.453 -> th=7.61695403412117
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.52
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.52119254 6.29972147 0.31686461
 0.31947545 6.95726424 4.9529429  6.65636169]
DEBUG:root:mean evidence: 3.589, std: 3.453 -> th=7.61695403412117
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  9.52119254 6.29972147 0.31686461
 0.31947545 6.95726424 4.9529429  6.65636169]
DEBUG:root:mean evidence: 3.589, std: 3.453 -> th=8.093013661253742
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 48 ---
INFO:uvicorn.access:192.168.1.217:64560 - "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([[-0.92378304,  0.14340842,  0.35504777],
       [-0.1534029 , -0.98816373,  0.        ],
       [ 0.35084533, -0.05446536,  0.93484816]]), 'pose_fully_defined': False}}, {'patch': array([0.00137716, 0.00029793, 0.00198235])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 1.904238508530292)
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: 8.88
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 1.904238508530292)
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: 6.165
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 1.904238508530292)
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: 7.057
INFO:root:Testing 199 out of 17728 hypotheses for tuna_fish_can (evidence > 1.904238508530292)
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: 5.387
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.904238508530292)
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: 6.518
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.87988771 6.16454216 0.31686461
 0.31947545 7.05717804 5.38683725 6.51837302]
DEBUG:root:mean evidence: 3.551, std: 3.354 -> th=7.1039101678433125
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64560 - "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([[-0.93582443,  0.20302482,  0.28812074],
       [-0.21201553, -0.9772663 ,  0.        ],
       [ 0.28157069, -0.06108607,  0.95759409]]), 'pose_fully_defined': False}}, {'patch': array([-0.00197739, -0.00760374,  0.00048638])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.321
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.231
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.318
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 1.7759775419608275)
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: 8.839
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 1.7759775419608275)
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: 6.562
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.317
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.319
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 1.7759775419608275)
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: 7.489
INFO:root:Testing 173 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7759775419608275)
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: 5.812
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 1.7759775419608275)
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: 6.356
DEBUG:root:evidences for each object: [0.3209308  0.23071489 0.3176229  8.83939396 6.56243001 0.31686461
 0.31947545 7.48850394 5.81162709 6.35552857]
DEBUG:root:mean evidence: 3.656, std: 3.438 -> th=7.071515169898925
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64560 - "POST /capture HTTP/1.1" 200
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/mustard_bottle/0
INFO:uvicorn.access:192.168.1.217:64560 - "POST /capture HTTP/1.1" 200
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/mustard_bottle/log.txt (NOTSET)>
