INFO:root:Logger initialized at 2025-09-28 11:32:10.318221
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/potted_meat_can_inference/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F8731236540,
                  '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/potted_meat_can_inference',
                    'python_log_level': 'DEBUG',
                    'python_log_to_file': True,
                    'python_log_to_stdout': True,
                    'resume_wandb_run': False,
                    'run_name': 'probe_triggered_data_collection_for_inference',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': 'flg9ypzg'},
 '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([[-0.32892588,  0.09140713, -0.93992154],
       [-0.26774945, -0.96348857,  0.        ],
       [-0.90560366,  0.25166347,  0.34139054]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'hot_sauce', 'montys_heart', 'montys_brain', 'mustard_bottle', 'harissa_oil', 'numenta_mug', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:54477 - "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([[-0.28603789, -0.01684816, -0.95807018],
       [ 0.05879992, -0.99826979,  0.        ],
       [-0.95641251, -0.05633445,  0.28653366]]), 'pose_fully_defined': False}}, {'patch': array([-0.00204687, -0.00796468, -0.00110387])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 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: montys_brain with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'hot_sauce', 'montys_heart', 'montys_brain', 'mustard_bottle', 'harissa_oil', 'numenta_mug', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:54478 - "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([[-0.41652887,  0.03133717, -0.90858224],
       [-0.07502206, -0.99718187,  0.        ],
       [-0.90602174,  0.06816371,  0.41770602]]), 'pose_fully_defined': False}}, {'patch': array([-0.00144222, -0.01033462,  0.00207538])}]
INFO:root:Testing 14373 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 0.03 seconds. New max evidence: 0.984
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.988
INFO:root:Testing 14684 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 0.03 seconds. New max evidence: 0.992
INFO:root:Testing 23150 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 0.05 seconds. New max evidence: 0.995
INFO:root:Testing 14858 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 0.03 seconds. New max evidence: 0.989
INFO:root:Testing 12558 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 0.02 seconds. New max evidence: 0.991
INFO:root:Testing 21407 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 0.04 seconds. New max evidence: 0.989
INFO:root:Testing 16960 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 0.03 seconds. New max evidence: 0.992
INFO:root:Testing 17419 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 0.04 seconds. New max evidence: 0.985
INFO:root:Testing 18706 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 0.04 seconds. New max evidence: 0.991
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'hot_sauce', 'montys_heart', 'montys_brain', 'mustard_bottle', 'harissa_oil', 'numenta_mug', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:54480 - "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([[ 0.85622961, -0.03778345, -0.51521186],
       [ 0.04408481,  0.99902779, -0.        ],
       [ 0.51471097, -0.02271302,  0.85706286]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02150745,  0.00979527, -0.01849166])}]
INFO:root:Testing 12440 out of 14424 hypotheses for numenta_mug (evidence > 0.19902499894705805)
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: 1.421
INFO:root:Testing 10679 out of 10992 hypotheses for montys_brain (evidence > 0.19902499894705805)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 1.126
INFO:root:Testing 13515 out of 14880 hypotheses for montys_heart (evidence > 0.19902499894705805)
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: 1.302
INFO:root:Testing 20127 out of 23200 hypotheses for ramen_pack (evidence > 0.19902499894705805)
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 0.04 seconds. New max evidence: 1.358
INFO:root:Testing 13676 out of 14864 hypotheses for hot_sauce (evidence > 0.19902499894705805)
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: 1.224
INFO:root:Testing 10973 out of 12560 hypotheses for harissa_oil (evidence > 0.19902499894705805)
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: 1.133
INFO:root:Testing 17740 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19902499894705805)
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 0.04 seconds. New max evidence: 1.444
INFO:root:Testing 15565 out of 16976 hypotheses for mustard_bottle (evidence > 0.19902499894705805)
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: 1.432
INFO:root:Testing 13470 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19902499894705805)
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 0.03 seconds. New max evidence: 1.406
INFO:root:Testing 15450 out of 19024 hypotheses for potted_meat_can (evidence > 0.19902499894705805)
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 0.03 seconds. New max evidence: 1.427
DEBUG:root:evidences for each object: [1.42129596 1.12594332 1.30175903 1.35840221 1.22407252 1.13276886
 1.44444738 1.43246902 1.40564903 1.4268123 ]
DEBUG:root:mean evidence: 1.327, std: 0.118 -> th=1.1555579013430033
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'hot_sauce', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'numenta_mug', 'ramen_pack'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:54480 - "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([[ 9.06889253e-01,  1.53169538e-03, -4.21366274e-01],
       [-1.68895286e-03,  9.99998574e-01,  0.00000000e+00],
       [ 4.21365673e-01,  7.11667772e-04,  9.06890547e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.01115844, 0.0244011 , 0.00402333])}]
INFO:root:Testing 1050 out of 14424 hypotheses for numenta_mug (evidence > 0.2888894753357507)
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: 1.416
INFO:root:Testing 491 out of 10992 hypotheses for montys_brain (evidence > 0.2888894753357507)
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: 1.233
INFO:root:Testing 1254 out of 14880 hypotheses for montys_heart (evidence > 0.2888894753357507)
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: 1.599
INFO:root:Testing 3107 out of 23200 hypotheses for ramen_pack (evidence > 0.2888894753357507)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.738
INFO:root:Testing 1055 out of 14864 hypotheses for hot_sauce (evidence > 0.2888894753357507)
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: 1.184
INFO:root:Testing 627 out of 12560 hypotheses for harissa_oil (evidence > 0.2888894753357507)
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: 1.564
INFO:root:Testing 3261 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2888894753357507)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.686
INFO:root:Testing 2773 out of 16976 hypotheses for mustard_bottle (evidence > 0.2888894753357507)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.77
INFO:root:Testing 3724 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2888894753357507)
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: 1.725
INFO:root:Testing 4670 out of 19024 hypotheses for potted_meat_can (evidence > 0.2888894753357507)
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: 1.879
DEBUG:root:evidences for each object: [1.4157245  1.23307749 1.5987241  1.73838948 1.18408326 1.56448552
 1.68554244 1.76970168 1.72455175 1.87923757]
DEBUG:root:mean evidence: 1.579, std: 0.221 -> th=1.503390055948462
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'montys_heart', 'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:54480 - "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([[ 0.93898921,  0.01143569, -0.34375644],
       [-0.01217782,  0.99992585,  0.        ],
       [ 0.34373095,  0.0041862 ,  0.93905884]]), 'pose_fully_defined': False}}, {'patch': array([-0.00274718,  0.00419071,  0.01250971])}]
INFO:root:Testing 193 out of 14424 hypotheses for numenta_mug (evidence > 0.37584751398711536)
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: 1.394
INFO:root:Testing 200 out of 10992 hypotheses for montys_brain (evidence > 0.37584751398711536)
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: 1.414
INFO:root:Testing 394 out of 14880 hypotheses for montys_heart (evidence > 0.37584751398711536)
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: 2.042
INFO:root:Testing 1487 out of 23200 hypotheses for ramen_pack (evidence > 0.37584751398711536)
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: 2.119
INFO:root:Testing 112 out of 14864 hypotheses for hot_sauce (evidence > 0.37584751398711536)
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: 1.361
INFO:root:Testing 220 out of 12560 hypotheses for harissa_oil (evidence > 0.37584751398711536)
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: 1.947
INFO:root:Testing 1392 out of 21832 hypotheses for tomato_soup_can (evidence > 0.37584751398711536)
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: 2.166
INFO:root:Testing 1437 out of 16976 hypotheses for mustard_bottle (evidence > 0.37584751398711536)
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: 2.227
INFO:root:Testing 2047 out of 17728 hypotheses for tuna_fish_can (evidence > 0.37584751398711536)
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: 2.134
INFO:root:Testing 2751 out of 19024 hypotheses for potted_meat_can (evidence > 0.37584751398711536)
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: 2.32
DEBUG:root:evidences for each object: [1.3938987  1.41363926 2.0421617  2.11894671 1.36101726 1.94675194
 2.16592719 2.22739618 2.13374989 2.3197837 ]
DEBUG:root:mean evidence: 1.912, std: 0.355 -> th=1.8558269579895204
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can', 'montys_heart', 'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:54481 - "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([[ 0.94914705, -0.04832969,  0.31110146],
       [ 0.0508532 ,  0.99870614, -0.        ],
       [-0.31069894,  0.0158205 ,  0.95037671]]), 'pose_fully_defined': False}}, {'patch': array([-0.00700584, -0.02995412,  0.01395321])}]
INFO:root:Testing 95 out of 14424 hypotheses for numenta_mug (evidence > 0.46395673949738003)
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: 1.59
INFO:root:Testing 190 out of 10992 hypotheses for montys_brain (evidence > 0.46395673949738003)
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 255 out of 14880 hypotheses for montys_heart (evidence > 0.46395673949738003)
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: 2.213
INFO:root:Testing 400 out of 23200 hypotheses for ramen_pack (evidence > 0.46395673949738003)
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: 2.51
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 0.46395673949738003)
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: 1.586
INFO:root:Testing 131 out of 12560 hypotheses for harissa_oil (evidence > 0.46395673949738003)
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: 1.907
INFO:root:Testing 888 out of 21832 hypotheses for tomato_soup_can (evidence > 0.46395673949738003)
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: 2.26
INFO:root:Testing 828 out of 16976 hypotheses for mustard_bottle (evidence > 0.46395673949738003)
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: 1.622
INFO:root:Testing 1221 out of 17728 hypotheses for tuna_fish_can (evidence > 0.46395673949738003)
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: 2.334
INFO:root:Testing 1279 out of 19024 hypotheses for potted_meat_can (evidence > 0.46395673949738003)
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: 2.502
DEBUG:root:evidences for each object: [1.58997536 0.45143324 2.21322726 2.51012731 1.58583661 1.90694917
 2.25959445 1.62231244 2.33414563 2.50180706]
DEBUG:root:mean evidence: 1.898, std: 0.593 -> th=2.008101847402533
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.51
DEBUG:root:evidences for each object: [1.58997536 0.45143324 2.21322726 2.51012731 1.58583661 1.90694917
 2.25959445 1.62231244 2.33414563 2.50180706]
DEBUG:root:mean evidence: 1.898, std: 0.593 -> th=2.008101847402533
DEBUG:root:evidences for each object: [1.58997536 0.45143324 2.21322726 2.51012731 1.58583661 1.90694917
 2.25959445 1.62231244 2.33414563 2.50180706]
DEBUG:root:mean evidence: 1.898, std: 0.593 -> th=2.133608212865191
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:54481 - "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([[ 0.92628176, -0.09675275,  0.36419912],
       [ 0.10388764,  0.99458904, -0.        ],
       [-0.36222846,  0.03783579,  0.9313211 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00180454,  0.00603606,  0.00812058])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 0.502025461850633)
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: 1.744
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 0.502025461850633)
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: 1.977
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 0.502025461850633)
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: 2.915
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 0.502025461850633)
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: 1.816
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 0.502025461850633)
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: 0.907
INFO:root:Testing 255 out of 21832 hypotheses for tomato_soup_can (evidence > 0.502025461850633)
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: 2.325
INFO:root:Testing 60 out of 16976 hypotheses for mustard_bottle (evidence > 0.502025461850633)
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: 1.214
INFO:root:Testing 1129 out of 17728 hypotheses for tuna_fish_can (evidence > 0.502025461850633)
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: 2.591
INFO:root:Testing 422 out of 19024 hypotheses for potted_meat_can (evidence > 0.502025461850633)
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: 2.672
DEBUG:root:evidences for each object: [1.7441702  0.45143324 1.97722589 2.91526003 1.81626273 0.90694917
 2.32521659 1.21397474 2.59115256 2.67196963]
DEBUG:root:mean evidence: 1.861, std: 0.766 -> th=2.332208027687572
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.92
DEBUG:root:evidences for each object: [1.7441702  0.45143324 1.97722589 2.91526003 1.81626273 0.90694917
 2.32521659 1.21397474 2.59115256 2.67196963]
DEBUG:root:mean evidence: 1.861, std: 0.766 -> th=2.332208027687572
DEBUG:root:evidences for each object: [1.7441702  0.45143324 1.97722589 2.91526003 1.81626273 0.90694917
 2.32521659 1.21397474 2.59115256 2.67196963]
DEBUG:root:mean evidence: 1.861, std: 0.766 -> th=2.4779710294180455
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:54481 - "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([[ 0.92830374, -0.07768384,  0.3636171 ],
       [ 0.08339216,  0.99651681, -0.        ],
       [-0.36235055,  0.03032281,  0.9315485 ]]), 'pose_fully_defined': False}}, {'patch': array([3.28366424e-05, 1.34133882e-02, 2.08717931e-03])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.5830520069218927)
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: 1.79
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 0.5830520069218927)
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: 2.337
INFO:root:Testing 39 out of 23200 hypotheses for ramen_pack (evidence > 0.5830520069218927)
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: 3.311
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 0.5830520069218927)
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: 1.675
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 0.5830520069218927)
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: 0.574
INFO:root:Testing 105 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5830520069218927)
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: 1.671
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.5830520069218927)
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: 0.506
INFO:root:Testing 1085 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5830520069218927)
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: 2.83
INFO:root:Testing 208 out of 19024 hypotheses for potted_meat_can (evidence > 0.5830520069218927)
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: 2.74
DEBUG:root:evidences for each object: [1.79048462 0.45143324 2.33667969 3.31096567 1.67523142 0.57352743
 1.67060803 0.50601537 2.82997955 2.74022298]
DEBUG:root:mean evidence: 1.789, std: 0.977 -> th=2.6487725396754724
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.31
DEBUG:root:evidences for each object: [1.79048462 0.45143324 2.33667969 3.31096567 1.67523142 0.57352743
 1.67060803 0.50601537 2.82997955 2.74022298]
DEBUG:root:mean evidence: 1.789, std: 0.977 -> th=2.6487725396754724
DEBUG:root:evidences for each object: [1.79048462 0.45143324 2.33667969 3.31096567 1.67523142 0.57352743
 1.67060803 0.50601537 2.82997955 2.74022298]
DEBUG:root:mean evidence: 1.789, std: 0.977 -> th=2.8143208234051897
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:54483 - "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([[ 0.92618828, -0.05361162,  0.37323057],
       [ 0.05778742,  0.99832891, -0.        ],
       [-0.37260686,  0.02156803,  0.92773862]]), 'pose_fully_defined': False}}, {'patch': array([0.00133569, 0.00101805, 0.00296581])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.6621931349188679)
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: 2.017
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 0.6621931349188679)
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: 2.609
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 0.6621931349188679)
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: 3.695
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 0.6621931349188679)
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: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6621931349188679)
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: 1.601
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 1054 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6621931349188679)
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: 3.076
INFO:root:Testing 55 out of 19024 hypotheses for potted_meat_can (evidence > 0.6621931349188679)
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: 2.883
DEBUG:root:evidences for each object: [2.01674487 0.45143324 2.60896569 3.69548814 0.67523142 0.57352743
 1.60130005 0.50601537 3.07567213 2.88329834]
DEBUG:root:mean evidence: 1.809, std: 1.157 -> th=2.9563905132144166
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.7
DEBUG:root:evidences for each object: [2.01674487 0.45143324 2.60896569 3.69548814 0.67523142 0.57352743
 1.60130005 0.50601537 3.07567213 2.88329834]
DEBUG:root:mean evidence: 1.809, std: 1.157 -> th=2.9563905132144166
DEBUG:root:evidences for each object: [2.01674487 0.45143324 2.60896569 3.69548814 0.67523142 0.57352743
 1.60130005 0.50601537 3.07567213 2.88329834]
DEBUG:root:mean evidence: 1.809, std: 1.157 -> th=3.1411649202903176
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:54484 - "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([[-0.92969974,  0.15603934, -0.33363172],
       [-0.16552325, -0.98620589,  0.        ],
       [-0.32902957,  0.05522381,  0.94270349]]), 'pose_fully_defined': False}}, {'patch': array([-0.03071367, -0.01740205, -0.00986944])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.7390976283036039)
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: 1.017
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 0.7390976283036039)
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: 1.609
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 0.7390976283036039)
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: 4.123
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7390976283036039)
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: 1.444
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 1043 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7390976283036039)
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: 2.076
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 0.7390976283036039)
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: 1.883
DEBUG:root:evidences for each object: [1.01674487 0.45143324 1.60896569 4.12287256 0.67523142 0.57352743
 1.44432158 0.50601537 2.07567213 1.88329834]
DEBUG:root:mean evidence: 1.436, std: 1.058 -> th=3.298298050706444
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.12
DEBUG:root:evidences for each object: [1.01674487 0.45143324 1.60896569 4.12287256 0.67523142 0.57352743
 1.44432158 0.50601537 2.07567213 1.88329834]
DEBUG:root:mean evidence: 1.436, std: 1.058 -> th=3.298298050706444
DEBUG:root:evidences for each object: [1.01674487 0.45143324 1.60896569 4.12287256 0.67523142 0.57352743
 1.44432158 0.50601537 2.07567213 1.88329834]
DEBUG:root:mean evidence: 1.436, std: 1.058 -> th=3.5044416788755965
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 11 ---
INFO:uvicorn.access:192.168.1.217:54484 - "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([[-0.93213693,  0.14039226, -0.3337825 ],
       [-0.14893358, -0.9888472 ,  0.        ],
       [-0.33005989,  0.04971142,  0.94265012]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00126696,  0.01512789, -0.00010831])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.8245745126766106)
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: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.8245745126766106)
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: 1.818
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 0.8245745126766106)
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: 4.543
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8245745126766106)
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: 1.394
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 411 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8245745126766106)
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: 1.922
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.8245745126766106)
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: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 1.81826599 4.54339366 0.67523142 0.57352743
 1.39398072 0.50601537 1.92185985 0.88329834]
DEBUG:root:mean evidence: 1.351, std: 1.179 -> th=3.6347149266431193
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:54485 - "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([[-0.93991013,  0.07185416, -0.33377527],
       [-0.07622549, -0.99709061,  0.        ],
       [-0.33280419,  0.02544218,  0.94265268]]), 'pose_fully_defined': False}}, {'patch': array([-0.01495217, -0.02091308,  0.03363695])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.9086787316607796)
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: 0.833
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.9086787316607796)
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: 4.933
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9086787316607796)
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: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 126 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9086787316607796)
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: 1.849
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  4.93251849 0.67523142 0.57352743
 0.64776893 0.50601537 1.84854685 0.88329834]
DEBUG:root:mean evidence: 1.21, std: 1.296 -> th=3.9460147918283424
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:54485 - "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([[-0.93509503,  0.0888147 , -0.34308778],
       [-0.0945538 , -0.99551975,  0.        ],
       [-0.34155066,  0.03244025,  0.93930335]]), 'pose_fully_defined': False}}, {'patch': array([-0.00013099,  0.00617177,  0.00082704])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.9865036979570854)
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: 5.331
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9865036979570854)
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: 1.777
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.3312774  0.67523142 0.57352743
 0.64776893 0.50601537 1.77724883 0.88329834]
DEBUG:root:mean evidence: 1.242, std: 1.408 -> th=4.265021923070542
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:54485 - "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([[-0.93812059,  0.07829182, -0.33734278],
       [-0.0831669 , -0.99653563,  0.        ],
       [-0.3361741 ,  0.02805576,  0.94138188]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00130199, -0.01484733, -0.00041238])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 1.0662554807676354)
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: 5.724
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0662554807676354)
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: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.72406503 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.205, std: 1.515 -> th=4.579252020443841
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:54487 - "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([[-0.99054743,  0.08443187,  0.10810667],
       [-0.08492961, -0.99638695,  0.        ],
       [ 0.10771608, -0.00918146,  0.9941393 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00158514,  0.02707594,  0.01809171])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.1448130051109597)
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: 5.95
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.94958468 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.228, std: 1.582 -> th=4.759667743878084
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:54487 - "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([[-0.94143873,  0.08552035,  0.32615854],
       [-0.09046757, -0.9958994 ,  0.        ],
       [ 0.32482109, -0.02950677,  0.94531508]]), 'pose_fully_defined': False}}, {'patch': array([-0.00023822, -0.01271579,  0.00049804])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.1899169359695208)
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: 6.021
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.02108477 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.235, std: 1.604 -> th=4.816867812915115
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.02
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.02108477 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.235, std: 1.604 -> th=4.816867812915115
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.02108477 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.235, std: 1.604 -> th=5.11792205122231
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 17 ---
INFO:uvicorn.access:192.168.1.217:54487 - "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([[-0.9736467 ,  0.06014267,  0.21998854],
       [-0.06165302, -0.99809764,  0.        ],
       [ 0.21957004, -0.01356296,  0.97550246]]), 'pose_fully_defined': False}}, {'patch': array([-0.00056538, -0.00634915, -0.00297902])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.2042169532287783)
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: 6.229
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.22932098 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.256, std: 1.666 -> th=4.983456780876351
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:54489 - "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([[ 0.13578119,  0.09675238,  0.98600327],
       [-0.58030773,  0.81439728,  0.        ],
       [-0.80299838, -0.57218532,  0.16672599]]), 'pose_fully_defined': False}}, {'patch': array([0.02723923, 0.01013178, 0.0109254 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.2458641952190872)
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: 6.2
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.19968414 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.253, std: 1.657 -> th=4.959747312333823
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:54489 - "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([[ 0.26324101,  0.08973981,  0.96054721],
       [-0.32266928,  0.94651177,  0.        ],
       [-0.90916924, -0.30993908,  0.27811699]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00046618, -0.0070553 , -0.00107821])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.2399368280834553)
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: 6.226
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.22629768 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.256, std: 1.665 -> th=4.981038140214055
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:54489 - "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([[ 0.36677743,  0.06960714,  0.92770101],
       [-0.18645234,  0.98246401,  0.        ],
       [-0.91143285, -0.17297202,  0.37332403]]), 'pose_fully_defined': False}}, {'patch': array([1.44734798e-03, 3.23939881e-03, 1.86120834e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.2452595350535134)
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: 6.302
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.30198715 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.263, std: 1.688 -> th=5.041589723750531
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:54489 - "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([[ 0.10955719,  0.13702327,  0.98449065],
       [-0.78103958,  0.62448153,  0.        ],
       [-0.61479623, -0.76892616,  0.17543704]]), 'pose_fully_defined': False}}, {'patch': array([-0.00284269,  0.01891865,  0.00170062])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.2603974309376325)
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: 6.258
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  6.25775135 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.259, std: 1.674 -> th=5.006201083837518
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:54491 - "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([[-0.48766456,  0.11532352,  0.8653807 ],
       [-0.23013385, -0.97315898,  0.        ],
       [ 0.84215301, -0.1991534 ,  0.50111499]]), 'pose_fully_defined': False}}, {'patch': array([-0.01623711, -0.00265932, -0.00448188])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 1.2515502709593793)
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: 5.258
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.25775135 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.159, std: 1.376 -> th=4.206201083837518
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.26
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.25775135 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.159, std: 1.376 -> th=4.206201083837518
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  5.25775135 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.159, std: 1.376 -> th=4.469088651577363
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 23 ---
INFO:uvicorn.access:192.168.1.217:54491 - "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([[-0.45370287,  0.14873109,  0.87865395],
       [-0.31150537, -0.95024439,  0.        ],
       [ 0.83493599, -0.27370543,  0.47745915]]), 'pose_fully_defined': False}}, {'patch': array([ 1.13525790e-03, -1.71947372e-02, -8.19567136e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.0515502709593791)
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: 4.258
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.014
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.883
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  4.25775135 0.67523142 0.57352743
 0.64776893 0.50601537 1.01358107 0.88329834]
DEBUG:root:mean evidence: 1.059, std: 1.079 -> th=3.406201083837518
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:54491 - "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([[-0.42791958,  0.1606594 ,  0.88942306],
       [-0.35148699, -0.93619277,  0.        ],
       [ 0.83267144, -0.31262064,  0.45708491]]), 'pose_fully_defined': False}}, {'patch': array([1.93558393e-03, 1.78832171e-02, 5.68649196e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.833
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.8515502709593794)
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: 3.776
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8515502709593794)
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: 0.849
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.8515502709593794)
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: 0.672
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.8333668  3.77586512 0.67523142 0.57352743
 0.64776893 0.50601537 0.84854685 0.67196963]
DEBUG:root:mean evidence: 0.973, std: 0.942 -> th=3.020692099269175
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:54491 - "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([[-0.36029964,  0.13213204,  0.92343126],
       [-0.34430557, -0.93885764,  0.        ],
       [ 0.8669705 , -0.31794253,  0.38376386]]), 'pose_fully_defined': False}}, {'patch': array([0.00222795, 0.00920888, 0.00195705])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 0.7551730248172936)
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: 0.694
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.7551730248172936)
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: 3.61
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 48 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7551730248172936)
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: 0.755
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.672
DEBUG:root:evidences for each object: [0.74550632 0.45143324 0.69390836 3.60967186 0.67523142 0.57352743
 0.64776893 0.50601537 0.75508561 0.67196963]
DEBUG:root:mean evidence: 0.933, std: 0.897 -> th=2.8877374916431258
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:54493 - "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([[ 0.35326979,  0.07267643, -0.93269426],
       [-0.20150505,  0.97948748,  0.        ],
       [ 0.91356235,  0.18794261,  0.36066801]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02700812, -0.02469654, -0.0742459 ])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.7219343729107814)
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: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.694
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.7219343729107814)
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: 3.685
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7219343729107814)
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: 1.02
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.672
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.69390836 3.68536913 0.67523142 0.57352743
 0.64776893 0.50601537 1.0202174  0.67196963]
DEBUG:root:mean evidence: 0.942, std: 0.927 -> th=2.9482953035867476
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:54493 - "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([[ 0.27581404,  0.0957055 , -0.95643456],
       [-0.32781831,  0.94474079,  0.        ],
       [ 0.90358274,  0.31353676,  0.29194679]]), 'pose_fully_defined': False}}, {'patch': array([-0.007641  , -0.00904231, -0.00430044])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.694
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.7370738258966867)
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: 3.839
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 43 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7370738258966867)
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: 1.313
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.672
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.69390836 3.83940858 0.67523142 0.57352743
 0.64776893 0.50601537 1.31311352 0.67196963]
DEBUG:root:mean evidence: 0.987, std: 0.978 -> th=3.0715268659935266
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:54494 - "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([[ 0.26222692,  0.12213468, -0.95724613],
       [-0.42221007,  0.90649802,  0.        ],
       [ 0.86774172,  0.40415896,  0.28927468]]), 'pose_fully_defined': False}}, {'patch': array([0.00151479, 0.02060711, 0.00617103])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.694
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 0.7678817164983816)
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: 2.839
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.574
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 145 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7678817164983816)
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: 1.522
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.672
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.69390836 2.83940858 0.67523142 0.57352743
 0.64776893 0.50601537 1.52227151 0.67196963]
DEBUG:root:mean evidence: 0.908, std: 0.706 -> th=2.2715268659935264
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.84
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.69390836 2.83940858 0.67523142 0.57352743
 0.64776893 0.50601537 1.52227151 0.67196963]
DEBUG:root:mean evidence: 0.908, std: 0.706 -> th=2.2715268659935264
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.69390836 2.83940858 0.67523142 0.57352743
 0.64776893 0.50601537 1.52227151 0.67196963]
DEBUG:root:mean evidence: 0.908, std: 0.706 -> th=2.413497295118122
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 29 ---
INFO:uvicorn.access:192.168.1.217:54496 - "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([[-0.88140466,  0.06326675, -0.46810591],
       [-0.07159526, -0.99743377,  0.        ],
       [-0.46690464,  0.03351416,  0.88367237]]), 'pose_fully_defined': False}}, {'patch': array([-0.01816575, -0.02480487,  0.00583955])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 64 out of 14880 hypotheses for montys_heart (evidence > 0.5678817164983814)
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: 1.172
INFO:root:Testing 1146 out of 23200 hypotheses for ramen_pack (evidence > 0.5678817164983814)
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: 3.267
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.5678817164983814)
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: 0.89
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 0.5678817164983814)
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: 0.682
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5678817164983814)
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: 0.761
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 783 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5678817164983814)
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: 1.672
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 0.5678817164983814)
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: 0.812
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17194165 3.26733761 0.89001541 0.6819537
 0.76062474 0.50601537 1.67223496 0.81209552]
DEBUG:root:mean evidence: 1.071, std: 0.811 -> th=2.613870085820656
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:54497 - "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([[ 0.99145183, -0.0171453 , -0.12934182],
       [ 0.01729054,  0.99985051, -0.        ],
       [ 0.12932249, -0.00223639,  0.99160007]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03345087,  0.0015009 , -0.00168468])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 55 out of 14880 hypotheses for montys_heart (evidence > 0.653467521455164)
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: 1.274
INFO:root:Testing 1069 out of 23200 hypotheses for ramen_pack (evidence > 0.653467521455164)
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: 3.665
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 0.653467521455164)
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: 1.069
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 0.653467521455164)
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: 0.73
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.653467521455164)
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: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 552 out of 17728 hypotheses for tuna_fish_can (evidence > 0.653467521455164)
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: 1.916
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 0.653467521455164)
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: 1.204
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.27350791 3.66523025 1.06856559 0.72999428
 0.55116063 0.50601537 1.91620685 1.20356014]
DEBUG:root:mean evidence: 1.186, std: 0.937 -> th=2.9321841994875326
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:54497 - "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([[ 0.95886637,  0.02477457, -0.28277464],
       [-0.02582873,  0.99966638,  0.        ],
       [ 0.2826803 ,  0.00730371,  0.95918638]]), 'pose_fully_defined': False}}, {'patch': array([-0.00077444,  0.02786827, -0.00271439])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.7330460498718829)
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: 1.329
INFO:root:Testing 182 out of 23200 hypotheses for ramen_pack (evidence > 0.7330460498718829)
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: 4.02
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.7330460498718829)
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: 0.89
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.73
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 312 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7330460498718829)
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: 2.352
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 0.7330460498718829)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.631
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.32891762 4.02041626 0.88983852 0.72999428
 0.55116063 0.50601537 2.35204115 1.63116756]
DEBUG:root:mean evidence: 1.296, std: 1.08 -> th=3.2163330097998193
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:54497 - "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([[ 0.86141831,  0.04873087, -0.50555296],
       [-0.0564802 ,  0.99840372,  0.        ],
       [ 0.50474595,  0.02855373,  0.86279558]]), 'pose_fully_defined': False}}, {'patch': array([-0.00286392, -0.04289463, -0.00210812])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.8040832524499546)
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: 1.498
INFO:root:Testing 39 out of 23200 hypotheses for ramen_pack (evidence > 0.8040832524499546)
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: 4.303
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.8040832524499546)
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: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.73
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 128 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8040832524499546)
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: 2.433
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.8040832524499546)
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: 2.006
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.4975436  4.30328609 0.56339785 0.72999428
 0.55116063 0.50601537 2.4334543  2.00626557]
DEBUG:root:mean evidence: 1.354, std: 1.193 -> th=3.4426288754567076
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:54497 - "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([[ 0.86233763,  0.0238372 , -0.50577227],
       [-0.02763198,  0.99961816,  0.        ],
       [ 0.50557915,  0.01397549,  0.86266703]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00049484, -0.00746685, -0.00074235])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.8606572188641768)
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: 1.651
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 0.8606572188641768)
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: 3.962
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.73
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 89 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8606572188641768)
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: 2.472
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.8606572188641768)
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: 2.424
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.65094476 3.96223045 0.56339785 0.72999428
 0.55116063 0.50601537 2.47212159 2.42415361]
DEBUG:root:mean evidence: 1.381, std: 1.149 -> th=3.169784363341314
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:54497 - "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([[ 8.85705832e-01,  1.29278157e-03, -4.64245095e-01],
       [-1.45960447e-03,  9.99998935e-01,  0.00000000e+00],
       [ 4.64244600e-01,  6.77614218e-04,  8.85706775e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00255178,  0.00326012, -0.01737084])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 0.7924460908353281)
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: 0.783
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 0.7924460908353281)
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: 3.045
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.73
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7924460908353281)
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: 2.644
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 0.7924460908353281)
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: 2.79
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.78327555 3.04510587 0.56339785 0.72999428
 0.55116063 0.50601537 2.64408143 2.78972963]
DEBUG:root:mean evidence: 1.256, std: 1.036 -> th=2.4360846968926753
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.05
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.78327555 3.04510587 0.56339785 0.72999428
 0.55116063 0.50601537 2.64408143 2.78972963]
DEBUG:root:mean evidence: 1.256, std: 1.036 -> th=2.4360846968926753
DEBUG:root:evidences for each object: [0.49767534 0.45143324 0.78327555 3.04510587 0.56339785 0.72999428
 0.55116063 0.50601537 2.64408143 2.78972963]
DEBUG:root:mean evidence: 1.256, std: 1.036 -> th=2.588339990448467
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: {'ramen_pack', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:54498 - "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([[-0.94028112,  0.02142862, -0.33972376],
       [-0.02278367, -0.99974042,  0.        ],
       [-0.33963557,  0.00774015,  0.94052526]]), 'pose_fully_defined': False}}, {'patch': array([-0.04143693,  0.03518114,  0.06568724])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 125 out of 14880 hypotheses for montys_heart (evidence > 0.6090211742231686)
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: 1.22
INFO:root:Testing 95 out of 23200 hypotheses for ramen_pack (evidence > 0.6090211742231686)
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: 3.493
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
INFO:root:Testing 12 out of 12560 hypotheses for harissa_oil (evidence > 0.6090211742231686)
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
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 220 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6090211742231686)
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: 1.743
INFO:root:Testing 988 out of 19024 hypotheses for potted_meat_can (evidence > 0.6090211742231686)
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: 2.954
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.22020542 3.49334164 0.56339785 0.83112502
 0.55116063 0.50601537 1.74340844 2.95410837]
DEBUG:root:mean evidence: 1.281, std: 1.052 -> th=2.794673310990897
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:54498 - "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([[-0.94119569, -0.00885241, -0.33774591],
       [ 0.00940508, -0.99995577,  0.        ],
       [-0.33773097, -0.00317653,  0.94123732]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00201072,  0.00889904, -0.00333331])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 0.6986683277477241)
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 21 out of 23200 hypotheses for ramen_pack (evidence > 0.6986683277477241)
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: 3.929
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 0.6986683277477241)
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: 1.014
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 26 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6986683277477241)
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: 1.348
INFO:root:Testing 256 out of 19024 hypotheses for potted_meat_can (evidence > 0.6986683277477241)
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: 3.121
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.59846985 3.92939736 0.56339785 1.01354604
 0.55116063 0.50601537 1.34759584 3.12054648]
DEBUG:root:mean evidence: 1.358, std: 1.16 -> th=3.1435178901167298
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:54498 - "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([[-0.93429495, -0.04455262, -0.35370611],
       [ 0.0476317 , -0.99886497,  0.        ],
       [-0.35330464, -0.01684762,  0.93535661]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00100701, -0.02165226, -0.00052181])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 0.7858794725291824)
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: 1.92
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 0.7858794725291824)
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: 4.355
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 0.7858794725291824)
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: 1.197
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7858794725291824)
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: 0.919
INFO:root:Testing 175 out of 19024 hypotheses for potted_meat_can (evidence > 0.7858794725291824)
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: 3.272
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.9195749  4.35459837 0.56339785 1.19659121
 0.55116063 0.50601537 0.91882025 3.27168295]
DEBUG:root:mean evidence: 1.423, std: 1.292 -> th=3.4836786987664383
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:54498 - "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([[-0.9345658 , -0.06327746, -0.35011816],
       [ 0.06755321, -0.99771567,  0.        ],
       [-0.34931837, -0.0236516 ,  0.93670554]]), 'pose_fully_defined': False}}, {'patch': array([-0.00114233, -0.00563953,  0.0001372 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 0.8709196746916095)
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: 2.238
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 0.8709196746916095)
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: 4.77
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 0.8709196746916095)
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: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8709196746916095)
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: 0.783
INFO:root:Testing 139 out of 19024 hypotheses for potted_meat_can (evidence > 0.8709196746916095)
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: 3.423
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.23794376 4.77049359 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 3.42304733]
DEBUG:root:mean evidence: 1.457, std: 1.443 -> th=3.816394874672534
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:54498 - "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([[-0.93249123, -0.05121965, -0.35754252],
       [ 0.05484508, -0.99849488,  0.        ],
       [-0.35700438, -0.01960945,  0.93389686]]), 'pose_fully_defined': False}}, {'patch': array([0.00045701, 0.02781515, 0.00380622])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 0.9540987186681331)
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: 2.57
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.9540987186681331)
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: 5.193
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 0.9540987186681331)
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: 3.575
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.56999394 5.19304737 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 3.57547189]
DEBUG:root:mean evidence: 1.548, std: 1.58 -> th=4.154437896194123
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.92016365, -0.18189871,  0.34671562],
       [ 0.193928  ,  0.98101576, -0.        ],
       [-0.34013349,  0.06723787,  0.9379703 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02881188, -0.00657477,  0.0062465 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 1.0386094740485303)
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: 2.213
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 1.0386094740485303)
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: 5.654
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 103 out of 19024 hypotheses for potted_meat_can (evidence > 1.0386094740485303)
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: 2.638
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.21327556 5.65400909 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.63787768]
DEBUG:root:mean evidence: 1.464, std: 1.579 -> th=4.523207273998398
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.65
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.21327556 5.65400909 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.63787768]
DEBUG:root:mean evidence: 1.464, std: 1.579 -> th=4.523207273998398
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.21327556 5.65400909 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.63787768]
DEBUG:root:mean evidence: 1.464, std: 1.579 -> th=4.805907728623298
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 41 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.90661767, -0.15657656,  0.39182672],
       [ 0.17018469,  0.98541218, -0.        ],
       [-0.38611082,  0.06668291,  0.92003903]]), 'pose_fully_defined': False}}, {'patch': array([0.00239209, 0.01461854, 0.00124769])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 1.1308018184995996)
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: 2.124
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 1.1308018184995996)
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: 5.901
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 1.1308018184995996)
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: 2.745
DEBUG:root:evidences for each object: [0.49767534 0.45143324 2.12384913 5.90148846 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.74532881]
DEBUG:root:mean evidence: 1.491, std: 1.649 -> th=4.721190764717418
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.92257465, -0.13255507,  0.36233296],
       [ 0.14221904,  0.98983521, -0.        ],
       [-0.35864992,  0.05153064,  0.93204873]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00021108, -0.02672824, -0.00215481])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 1.1802976911793541)
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: 1.18
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 1.1802976911793541)
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: 6.401
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 1.1802976911793541)
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: 2.83
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 6.40148846 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.82956235]
DEBUG:root:mean evidence: 1.455, std: 1.782 -> th=5.121190764717418
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.92140699, -0.14025967,  0.36240362],
       [ 0.15048978,  0.98861156, -0.        ],
       [-0.35827641,  0.05453804,  0.93202125]]), 'pose_fully_defined': False}}, {'patch': array([-6.58162333e-05, -1.04960607e-02, -1.69169141e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.2802976911793538)
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: 6.889
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 1.2802976911793538)
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: 2.914
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 6.88904043 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 2.91406558]
DEBUG:root:mean evidence: 1.512, std: 1.924 -> th=5.511232342499085
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.91877118, -0.16229969,  0.35988654],
       [ 0.17395539,  0.98475353, -0.        ],
       [-0.35439954,  0.0626042 ,  0.93299608]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00740799,  0.02840427, -0.02037972])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 1.3778080856247712)
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: 7.246
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 73 out of 19024 hypotheses for potted_meat_can (evidence > 1.3778080856247712)
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: 1.914
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 7.24587431 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.91406558]
DEBUG:root:mean evidence: 1.448, std: 1.979 -> th=5.796699445775943
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:54500 - "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([[ 0.91706302, -0.11031593,  0.38317857],
       [ 0.11943164,  0.99284243, -0.        ],
       [-0.38043594,  0.04576365,  0.92367428]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00027927, -0.00033691,  0.00028788])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.4491748614439857)
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: 7.63
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 1.4491748614439857)
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: 1.425
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 7.62957999 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.437, std: 2.086 -> th=6.103663991067609
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:54503 - "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([[-0.19228265,  0.08999407, -0.97720441],
       [-0.42389924, -0.90570935,  0.        ],
       [-0.88506317,  0.41423621,  0.21230061]]), 'pose_fully_defined': False}}, {'patch': array([-0.01910064, -0.00893458, -0.03685904])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 12 out of 23200 hypotheses for ramen_pack (evidence > 1.5259159977669023)
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: 8.059
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.425
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.0587575  0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.48, std: 2.214 -> th=6.447006001160628
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.06
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.0587575  0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.48, std: 2.214 -> th=6.447006001160628
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.0587575  0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.48, std: 2.214 -> th=6.8499438762331675
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 47 ---
INFO:uvicorn.access:192.168.1.217:54504 - "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([[-0.08491706,  0.10727149, -0.99059675],
       [-0.78406789, -0.62067507,  0.        ],
       [-0.6148387 ,  0.77669511,  0.13681403]]), 'pose_fully_defined': False}}, {'patch': array([ 1.42648786e-03, -1.77427385e-02, -8.72049707e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 447 out of 23200 hypotheses for ramen_pack (evidence > 1.6117515002901568)
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: 8.391
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.425
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.39073153 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.513, std: 2.313 -> th=6.712585227863819
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:54505 - "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([[-0.29827292,  0.07236011, -0.95173383],
       [-0.23575858, -0.97181165,  0.        ],
       [-0.92490603,  0.22437942,  0.30692461]]), 'pose_fully_defined': False}}, {'patch': array([-0.00342068,  0.03065967,  0.00105869])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 354 out of 23200 hypotheses for ramen_pack (evidence > 1.6781463069659548)
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: 8.578
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.425
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.57801867 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.532, std: 2.368 -> th=6.86241493301395
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:54506 - "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([[-0.75399353, -0.05583091, -0.65450491],
       [ 0.07384477, -0.99726975,  0.        ],
       [-0.65271794, -0.04833177,  0.75605776]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01632685, -0.02816043,  0.02349526])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.18
INFO:root:Testing 347 out of 23200 hypotheses for ramen_pack (evidence > 1.715603733253487)
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: 8.098
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.563
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.785
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.783
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.425
DEBUG:root:evidences for each object: [0.49767534 0.45143324 1.17993399 8.09842232 0.56339785 0.78527873
 0.55116063 0.50601537 0.78341853 1.425474  ]
DEBUG:root:mean evidence: 1.484, std: 2.226 -> th=6.47873785628656
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 50 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/potted_meat_can_inference/0
DEBUG:root:Removing and closing python log handler: <FileHandler /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/potted_meat_can_inference/log.txt (NOTSET)>
