INFO:root:Logger initialized at 2025-09-28 12:09:35.898314
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_learning/tbp_mug/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F9AF9598440,
                  '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': 200,
                     '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_learning/tbp_mug',
                    '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_learning',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': 'ybsrhqmk'},
 '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': 201,
                                 'min_eval_steps': 200,
                                 '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([[ 0.96484491,  0.12018677,  0.23372941],
       [-0.12361058,  0.9923308 ,  0.        ],
       [-0.2319369 , -0.02889143,  0.97230168]]), '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: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'montys_brain', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.96396653,  0.15776717,  0.21419161],
       [-0.16151568,  0.98687015,  0.        ],
       [-0.21137931, -0.0345953 ,  0.97679166]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01022665,  0.02250051, -0.02646922])}]
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: 0.478
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 0.04 seconds. New max evidence: 0.498
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.499
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.499
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.499
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.499
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.498
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: potted_meat_can with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'montys_brain', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.99230078,  0.08761967,  0.08753257],
       [-0.08795728,  0.99612425,  0.        ],
       [-0.08719332, -0.00769913,  0.99616166]]), 'pose_fully_defined': False}}, {'patch': array([0.00346844, 0.01687849, 0.00029797])}]
INFO:root:Testing 2313 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.956
INFO:root:Testing 280 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.582
INFO:root:Testing 1302 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 0.0 seconds. New max evidence: 0.946
INFO:root:Testing 7099 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 0.966
INFO:root:Testing 2410 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 0.973
INFO:root:Testing 1772 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.976
INFO:root:Testing 4082 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.942
INFO:root:Testing 4444 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 0.96
INFO:root:Testing 4098 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 0.944
INFO:root:Testing 6731 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 0.957
DEBUG:root:evidences for each object: [0.95578373 0.58196091 0.94595827 0.96561097 0.97332468 0.97569961
 0.9418221  0.9597231  0.9440788  0.95728502]
DEBUG:root:mean evidence: 0.92, std: 0.113 -> th=0.7805596843606015
INFO:root:current most likely hypothesis: harissa_oil with evidence 0.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.98537625,  0.11031826,  0.12985967],
       [-0.11126037,  0.99379129,  0.        ],
       [-0.12905341, -0.01444824,  0.99153238]]), 'pose_fully_defined': False}}, {'patch': array([ 0.000859  , -0.01444321,  0.0018043 ])}]
INFO:root:Testing 244 out of 14424 hypotheses for numenta_mug (evidence > 0.19513992109015033)
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: 1.427
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.19513992109015033)
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: 1.014
INFO:root:Testing 278 out of 14880 hypotheses for montys_heart (evidence > 0.19513992109015033)
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: 1.427
INFO:root:Testing 463 out of 23200 hypotheses for ramen_pack (evidence > 0.19513992109015033)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.406
INFO:root:Testing 459 out of 14864 hypotheses for hot_sauce (evidence > 0.19513992109015033)
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: 1.466
INFO:root:Testing 49 out of 12560 hypotheses for harissa_oil (evidence > 0.19513992109015033)
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: 1.395
INFO:root:Testing 1079 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19513992109015033)
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: 1.367
INFO:root:Testing 797 out of 16976 hypotheses for mustard_bottle (evidence > 0.19513992109015033)
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: 1.438
INFO:root:Testing 1443 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19513992109015033)
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: 1.418
INFO:root:Testing 1501 out of 19024 hypotheses for potted_meat_can (evidence > 0.19513992109015033)
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: 1.41
DEBUG:root:evidences for each object: [1.42698487 1.01384619 1.42732586 1.40616093 1.46621063 1.39545238
 1.36748971 1.43768583 1.41817118 1.40953141]
DEBUG:root:mean evidence: 1.377, std: 0.124 -> th=1.1729685058776371
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.97746125,  0.11625415,  0.17622282],
       [-0.11810242,  0.99300142,  0.        ],
       [-0.17498951, -0.02081234,  0.9843503 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00181775, -0.00600948,  0.00259217])}]
INFO:root:Testing 195 out of 14424 hypotheses for numenta_mug (evidence > 0.29324212646940917)
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: 1.908
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.29324212646940917)
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 255 out of 14880 hypotheses for montys_heart (evidence > 0.29324212646940917)
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: 1.917
INFO:root:Testing 371 out of 23200 hypotheses for ramen_pack (evidence > 0.29324212646940917)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.887
INFO:root:Testing 341 out of 14864 hypotheses for hot_sauce (evidence > 0.29324212646940917)
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: 1.915
INFO:root:Testing 33 out of 12560 hypotheses for harissa_oil (evidence > 0.29324212646940917)
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: 1.836
INFO:root:Testing 850 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29324212646940917)
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: 1.82
INFO:root:Testing 639 out of 16976 hypotheses for mustard_bottle (evidence > 0.29324212646940917)
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: 1.928
INFO:root:Testing 1110 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29324212646940917)
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: 1.895
INFO:root:Testing 1025 out of 19024 hypotheses for potted_meat_can (evidence > 0.29324212646940917)
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: 1.892
DEBUG:root:evidences for each object: [1.90814575 1.41423431 1.91714257 1.88712293 1.91528845 1.83559441
 1.82045137 1.92753198 1.89545423 1.8915406 ]
DEBUG:root:mean evidence: 1.841, std: 0.146 -> th=1.5420255848918174
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.97277254,  0.11457324,  0.20146108],
       [-0.11697156,  0.99313526,  0.        ],
       [-0.20007811, -0.02356522,  0.97949652]]), 'pose_fully_defined': False}}, {'patch': array([-0.00288452, -0.00709542,  0.00542936])}]
INFO:root:Testing 173 out of 14424 hypotheses for numenta_mug (evidence > 0.38550639622295435)
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: 2.396
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.38550639622295435)
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: 1.882
INFO:root:Testing 255 out of 14880 hypotheses for montys_heart (evidence > 0.38550639622295435)
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: 2.368
INFO:root:Testing 368 out of 23200 hypotheses for ramen_pack (evidence > 0.38550639622295435)
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: 2.359
INFO:root:Testing 330 out of 14864 hypotheses for hot_sauce (evidence > 0.38550639622295435)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.301
INFO:root:Testing 33 out of 12560 hypotheses for harissa_oil (evidence > 0.38550639622295435)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.322
INFO:root:Testing 841 out of 21832 hypotheses for tomato_soup_can (evidence > 0.38550639622295435)
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: 2.236
INFO:root:Testing 631 out of 16976 hypotheses for mustard_bottle (evidence > 0.38550639622295435)
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: 2.419
INFO:root:Testing 1109 out of 17728 hypotheses for tuna_fish_can (evidence > 0.38550639622295435)
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: 2.361
INFO:root:Testing 1009 out of 19024 hypotheses for potted_meat_can (evidence > 0.38550639622295435)
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: 2.391
DEBUG:root:evidences for each object: [2.39558141 1.88175364 2.36806097 2.35861867 2.3005088  2.32182725
 2.23555075 2.4193003  2.36098458 2.39054314]
DEBUG:root:mean evidence: 2.303, std: 0.149 -> th=1.9354402397025645
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.96964086,  0.10943007,  0.21868165],
       [-0.11214439,  0.99369192,  0.        ],
       [-0.21730219, -0.02452392,  0.97579626]]), 'pose_fully_defined': False}}, {'patch': array([-0.0012869 , -0.00586869,  0.00229124])}]
INFO:root:Testing 161 out of 14424 hypotheses for numenta_mug (evidence > 0.4838600599256411)
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: 2.881
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.4838600599256411)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.175
INFO:root:Testing 254 out of 14880 hypotheses for montys_heart (evidence > 0.4838600599256411)
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: 2.783
INFO:root:Testing 368 out of 23200 hypotheses for ramen_pack (evidence > 0.4838600599256411)
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: 2.849
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.4838600599256411)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.734
INFO:root:Testing 39 out of 12560 hypotheses for harissa_oil (evidence > 0.4838600599256411)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.814
INFO:root:Testing 841 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4838600599256411)
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: 2.695
INFO:root:Testing 627 out of 16976 hypotheses for mustard_bottle (evidence > 0.4838600599256411)
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: 2.797
INFO:root:Testing 1109 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4838600599256411)
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: 2.844
INFO:root:Testing 1005 out of 19024 hypotheses for potted_meat_can (evidence > 0.4838600599256411)
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: 2.868
DEBUG:root:evidences for each object: [2.88062183 2.17516552 2.78304499 2.84946217 2.73399769 2.81433489
 2.69496608 2.79716367 2.84444091 2.86767169]
DEBUG:root:mean evidence: 2.744, std: 0.198 -> th=2.3044974624793637
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.88
DEBUG:root:evidences for each object: [2.88062183 2.17516552 2.78304499 2.84946217 2.73399769 2.81433489
 2.69496608 2.79716367 2.84444091 2.86767169]
DEBUG:root:mean evidence: 2.744, std: 0.198 -> th=2.3044974624793637
DEBUG:root:evidences for each object: [2.88062183 2.17516552 2.78304499 2.84946217 2.73399769 2.81433489
 2.69496608 2.79716367 2.84444091 2.86767169]
DEBUG:root:mean evidence: 2.744, std: 0.198 -> th=2.448528553884324
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.97580474,  0.11335845,  0.18696247],
       [-0.11539317,  0.9933199 ,  0.        ],
       [-0.18571354, -0.02157419,  0.98236706]]), 'pose_fully_defined': False}}, {'patch': array([-0.00223864, -0.00732795,  0.00306267])}]
INFO:root:Testing 149 out of 14424 hypotheses for numenta_mug (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.225
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.478
INFO:root:Testing 254 out of 14880 hypotheses for montys_heart (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.212
INFO:root:Testing 366 out of 23200 hypotheses for ramen_pack (evidence > 0.5761243656198407)
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: 3.272
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.125
INFO:root:Testing 49 out of 12560 hypotheses for harissa_oil (evidence > 0.5761243656198407)
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: 3.268
INFO:root:Testing 839 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.163
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 0.5761243656198407)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.209
INFO:root:Testing 1108 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5761243656198407)
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: 3.329
INFO:root:Testing 1005 out of 19024 hypotheses for potted_meat_can (evidence > 0.5761243656198407)
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: 3.334
DEBUG:root:evidences for each object: [3.22476121 2.47771478 3.21232682 3.27163266 3.12475093 3.26839309
 3.16349427 3.20891754 3.32947723 3.33379373]
DEBUG:root:mean evidence: 3.162, std: 0.236 -> th=2.667034981632283
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.33
DEBUG:root:evidences for each object: [3.22476121 2.47771478 3.21232682 3.27163266 3.12475093 3.26839309
 3.16349427 3.20891754 3.32947723 3.33379373]
DEBUG:root:mean evidence: 3.162, std: 0.236 -> th=2.667034981632283
DEBUG:root:evidences for each object: [3.22476121 2.47771478 3.21232682 3.27163266 3.12475093 3.26839309
 3.16349427 3.20891754 3.32947723 3.33379373]
DEBUG:root:mean evidence: 3.162, std: 0.236 -> th=2.833724667984301
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.97776323,  0.08382404,  0.19223059],
       [-0.08541708,  0.99634528,  0.        ],
       [-0.19152804, -0.01641978,  0.98134978]]), 'pose_fully_defined': False}}, {'patch': array([-0.00139414,  0.00069294,  0.00130024])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.572
INFO:root:Testing 145 out of 10992 hypotheses for montys_brain (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.825
INFO:root:Testing 249 out of 14880 hypotheses for montys_heart (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.675
INFO:root:Testing 366 out of 23200 hypotheses for ramen_pack (evidence > 0.6667587454080706)
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: 3.72
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.55
INFO:root:Testing 52 out of 12560 hypotheses for harissa_oil (evidence > 0.6667587454080706)
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: 3.738
INFO:root:Testing 839 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.615
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 0.6667587454080706)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.684
INFO:root:Testing 1106 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6667587454080706)
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: 3.8
INFO:root:Testing 1004 out of 19024 hypotheses for potted_meat_can (evidence > 0.6667587454080706)
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: 3.812
DEBUG:root:evidences for each object: [3.57153589 2.82507127 3.67503069 3.71970241 3.54998847 3.73817086
 3.61547639 3.68394989 3.80000855 3.8121239 ]
DEBUG:root:mean evidence: 3.599, std: 0.271 -> th=3.049699120546399
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.81
DEBUG:root:evidences for each object: [3.57153589 2.82507127 3.67503069 3.71970241 3.54998847 3.73817086
 3.61547639 3.68394989 3.80000855 3.8121239 ]
DEBUG:root:mean evidence: 3.599, std: 0.271 -> th=3.049699120546399
DEBUG:root:evidences for each object: [3.57153589 2.82507127 3.67503069 3.71970241 3.54998847 3.73817086
 3.61547639 3.68394989 3.80000855 3.8121239 ]
DEBUG:root:mean evidence: 3.599, std: 0.271 -> th=3.2403053155805495
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.97764554,  0.07550266,  0.19623592],
       [-0.07699979,  0.99703111,  0.        ],
       [-0.19565332, -0.01511013,  0.98055671]]), 'pose_fully_defined': False}}, {'patch': array([-0.00146876, -0.00702624,  0.00156053])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 0.7624247801365995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.989
INFO:root:Testing 226 out of 10992 hypotheses for montys_brain (evidence > 0.7624247801365995)
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: 3.085
INFO:root:Testing 249 out of 14880 hypotheses for montys_heart (evidence > 0.7624247801365995)
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: 4.086
INFO:root:Testing 366 out of 23200 hypotheses for ramen_pack (evidence > 0.7624247801365995)
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: 4.192
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.7624247801365995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.016
INFO:root:Testing 1671 out of 12560 hypotheses for harissa_oil (evidence > 0.7624247801365995)
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: 4.206
INFO:root:Testing 838 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7624247801365995)
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: 4.072
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 0.7624247801365995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.171
INFO:root:Testing 1106 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7624247801365995)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.283
INFO:root:Testing 1004 out of 19024 hypotheses for potted_meat_can (evidence > 0.7624247801365995)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.292
DEBUG:root:evidences for each object: [3.98877809 3.08503436 4.08556665 4.19150867 4.01578575 4.20625925
 4.07158537 4.17079352 4.28316022 4.29164728]
DEBUG:root:mean evidence: 4.039, std: 0.333 -> th=3.433317827580029
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.29
DEBUG:root:evidences for each object: [3.98877809 3.08503436 4.08556665 4.19150867 4.01578575 4.20625925
 4.07158537 4.17079352 4.28316022 4.29164728]
DEBUG:root:mean evidence: 4.039, std: 0.333 -> th=3.433317827580029
DEBUG:root:evidences for each object: [3.98877809 3.08503436 4.08556665 4.19150867 4.01578575 4.20625925
 4.07158537 4.17079352 4.28316022 4.29164728]
DEBUG:root:mean evidence: 4.039, std: 0.333 -> th=3.6479001918037812
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:54602 - "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([[ 0.94973529,  0.07079902,  0.30494325],
       [-0.07433979,  0.99723297,  0.        ],
       [-0.30409946, -0.02266942,  0.95237052]]), 'pose_fully_defined': False}}, {'patch': array([-0.00346253, -0.00364281,  0.00855081])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 0.8583294568950071)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.427
INFO:root:Testing 250 out of 10992 hypotheses for montys_brain (evidence > 0.8583294568950071)
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: 3.443
INFO:root:Testing 247 out of 14880 hypotheses for montys_heart (evidence > 0.8583294568950071)
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: 4.425
INFO:root:Testing 366 out of 23200 hypotheses for ramen_pack (evidence > 0.8583294568950071)
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: 4.673
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.8583294568950071)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.467
INFO:root:Testing 1738 out of 12560 hypotheses for harissa_oil (evidence > 0.8583294568950071)
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: 4.665
INFO:root:Testing 836 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8583294568950071)
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: 4.558
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 0.8583294568950071)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.633
INFO:root:Testing 1106 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8583294568950071)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.767
INFO:root:Testing 999 out of 19024 hypotheses for potted_meat_can (evidence > 0.8583294568950071)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.762
DEBUG:root:evidences for each object: [4.42703835 3.44266156 4.42455692 4.67319551 4.46662368 4.66517366
 4.55780256 4.63292445 4.76693734 4.76224122]
DEBUG:root:mean evidence: 4.482, std: 0.367 -> th=3.813549875503815
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.77
DEBUG:root:evidences for each object: [4.42703835 3.44266156 4.42455692 4.67319551 4.46662368 4.66517366
 4.55780256 4.63292445 4.76693734 4.76224122]
DEBUG:root:mean evidence: 4.482, std: 0.367 -> th=3.813549875503815
DEBUG:root:evidences for each object: [4.42703835 3.44266156 4.42455692 4.67319551 4.46662368 4.66517366
 4.55780256 4.63292445 4.76693734 4.76224122]
DEBUG:root:mean evidence: 4.482, std: 0.367 -> th=4.051896742722803
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.7122226 ,  0.07493726,  0.69794224],
       [-0.10463846,  0.99451033,  0.        ],
       [-0.69411077, -0.0730316 ,  0.71615405]]), 'pose_fully_defined': False}}, {'patch': array([-0.00713735,  0.00751411,  0.01200704])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 0.9533874688759534)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.656
INFO:root:Testing 251 out of 10992 hypotheses for montys_brain (evidence > 0.9533874688759534)
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: 3.901
INFO:root:Testing 246 out of 14880 hypotheses for montys_heart (evidence > 0.9533874688759534)
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: 4.79
INFO:root:Testing 365 out of 23200 hypotheses for ramen_pack (evidence > 0.9533874688759534)
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: 5.104
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 0.9533874688759534)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.74
INFO:root:Testing 1737 out of 12560 hypotheses for harissa_oil (evidence > 0.9533874688759534)
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: 5.006
INFO:root:Testing 831 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9533874688759534)
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: 4.988
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 0.9533874688759534)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.037
INFO:root:Testing 1106 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9533874688759534)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.102
INFO:root:Testing 995 out of 19024 hypotheses for potted_meat_can (evidence > 0.9533874688759534)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.003
DEBUG:root:evidences for each object: [4.65555522 3.90133086 4.78998318 5.10356778 4.74027136 5.00631286
 4.98750619 5.03745259 5.10211851 5.00312299]
DEBUG:root:mean evidence: 4.833, std: 0.344 -> th=4.08285422502948
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.67506604,  0.07758651,  0.73366626],
       [-0.11418009,  0.99346007,  0.        ],
       [-0.72886813, -0.08377008,  0.67950999]]), 'pose_fully_defined': False}}, {'patch': array([-0.00139229,  0.01100295,  0.00095159])}]
INFO:root:Testing 144 out of 14424 hypotheses for numenta_mug (evidence > 1.0207135562573697)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.843
INFO:root:Testing 284 out of 10992 hypotheses for montys_brain (evidence > 1.0207135562573697)
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: 4.389
INFO:root:Testing 242 out of 14880 hypotheses for montys_heart (evidence > 1.0207135562573697)
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: 5.217
INFO:root:Testing 365 out of 23200 hypotheses for ramen_pack (evidence > 1.0207135562573697)
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: 5.532
INFO:root:Testing 328 out of 14864 hypotheses for hot_sauce (evidence > 1.0207135562573697)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.071
INFO:root:Testing 1677 out of 12560 hypotheses for harissa_oil (evidence > 1.0207135562573697)
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: 5.402
INFO:root:Testing 827 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0207135562573697)
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: 5.406
INFO:root:Testing 626 out of 16976 hypotheses for mustard_bottle (evidence > 1.0207135562573697)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.467
INFO:root:Testing 1103 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0207135562573697)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.501
INFO:root:Testing 994 out of 19024 hypotheses for potted_meat_can (evidence > 1.0207135562573697)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.312
DEBUG:root:evidences for each object: [4.84269824 4.38909756 5.21667657 5.53213299 5.07055475 5.40156426
 5.40637756 5.46718383 5.50114725 5.31224532]
DEBUG:root:mean evidence: 5.214, std: 0.342 -> th=4.425706392189101
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.7619869 ,  0.07484323,  0.64325302],
       [-0.09775076,  0.99521093,  0.        ],
       [-0.64017244, -0.06287847,  0.76565367]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00075966,  0.00863117, -0.00010717])}]
INFO:root:Testing 142 out of 14424 hypotheses for numenta_mug (evidence > 1.1064265980472747)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.138
INFO:root:Testing 284 out of 10992 hypotheses for montys_brain (evidence > 1.1064265980472747)
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: 4.757
INFO:root:Testing 226 out of 14880 hypotheses for montys_heart (evidence > 1.1064265980472747)
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: 5.642
INFO:root:Testing 364 out of 23200 hypotheses for ramen_pack (evidence > 1.1064265980472747)
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: 5.814
INFO:root:Testing 328 out of 14864 hypotheses for hot_sauce (evidence > 1.1064265980472747)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.49
INFO:root:Testing 1633 out of 12560 hypotheses for harissa_oil (evidence > 1.1064265980472747)
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: 5.862
INFO:root:Testing 803 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1064265980472747)
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: 5.78
INFO:root:Testing 622 out of 16976 hypotheses for mustard_bottle (evidence > 1.1064265980472747)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.927
INFO:root:Testing 1085 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1064265980472747)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.896
INFO:root:Testing 944 out of 19024 hypotheses for potted_meat_can (evidence > 1.1064265980472747)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.769
DEBUG:root:evidences for each object: [5.13769327 4.75692794 5.64161452 5.8143894  5.49015259 5.86166657
 5.78030874 5.92735678 5.89633417 5.76910413]
DEBUG:root:mean evidence: 5.608, std: 0.362 -> th=4.741885424520356
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'montys_brain', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.88924331,  0.08249939,  0.44993353],
       [-0.09237811,  0.995724  ,  0.        ],
       [-0.44800962, -0.04156401,  0.89306204]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00092848,  0.00593423, -0.00191143])}]
INFO:root:Testing 135 out of 14424 hypotheses for numenta_mug (evidence > 1.1854713561300887)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.497
INFO:root:Testing 272 out of 10992 hypotheses for montys_brain (evidence > 1.1854713561300887)
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: 4.947
INFO:root:Testing 210 out of 14880 hypotheses for montys_heart (evidence > 1.1854713561300887)
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: 6.04
INFO:root:Testing 354 out of 23200 hypotheses for ramen_pack (evidence > 1.1854713561300887)
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
INFO:root:Testing 328 out of 14864 hypotheses for hot_sauce (evidence > 1.1854713561300887)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.673
INFO:root:Testing 1604 out of 12560 hypotheses for harissa_oil (evidence > 1.1854713561300887)
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: 6.317
INFO:root:Testing 740 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1854713561300887)
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: 6.237
INFO:root:Testing 616 out of 16976 hypotheses for mustard_bottle (evidence > 1.1854713561300887)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.348
INFO:root:Testing 1017 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1854713561300887)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.279
INFO:root:Testing 869 out of 19024 hypotheses for potted_meat_can (evidence > 1.1854713561300887)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.233
DEBUG:root:evidences for each object: [5.49734648 4.94710748 6.04008206 6.19992888 5.673144   6.31734022
 6.2368618  6.34810869 6.27943134 6.23313827]
DEBUG:root:mean evidence: 5.977, std: 0.438 -> th=5.078486949352277
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.96962683,  0.07458686,  0.23293908],
       [-0.07669668,  0.99705447,  0.        ],
       [-0.23225295, -0.01786565,  0.97249133]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00133214,  0.01236219, -0.0012444 ])}]
INFO:root:Testing 124 out of 14424 hypotheses for numenta_mug (evidence > 1.2696217373380687)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.887
INFO:root:Testing 247 out of 10992 hypotheses for montys_brain (evidence > 1.2696217373380687)
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: 5.019
INFO:root:Testing 198 out of 14880 hypotheses for montys_heart (evidence > 1.2696217373380687)
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: 6.073
INFO:root:Testing 334 out of 23200 hypotheses for ramen_pack (evidence > 1.2696217373380687)
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: 6.371
INFO:root:Testing 326 out of 14864 hypotheses for hot_sauce (evidence > 1.2696217373380687)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.597
INFO:root:Testing 1562 out of 12560 hypotheses for harissa_oil (evidence > 1.2696217373380687)
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: 6.481
INFO:root:Testing 703 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2696217373380687)
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: 6.598
INFO:root:Testing 605 out of 16976 hypotheses for mustard_bottle (evidence > 1.2696217373380687)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.697
INFO:root:Testing 955 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2696217373380687)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.67
INFO:root:Testing 830 out of 19024 hypotheses for potted_meat_can (evidence > 1.2696217373380687)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.684
DEBUG:root:evidences for each object: [5.88695914 5.01920949 6.07308971 6.37083144 5.59663029 6.48078627
 6.59813748 6.69735828 6.6699051  6.68408045]
DEBUG:root:mean evidence: 6.208, std: 0.533 -> th=5.357886621557759
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.84903829,  0.07910888,  0.52237513],
       [-0.09277286,  0.9956873 ,  0.        ],
       [-0.52012228, -0.04846224,  0.85271579]]), 'pose_fully_defined': False}}, {'patch': array([-0.00060673,  0.00504878,  0.00090427])}]
INFO:root:Testing 97 out of 14424 hypotheses for numenta_mug (evidence > 1.3394716553894392)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.356
INFO:root:Testing 220 out of 10992 hypotheses for montys_brain (evidence > 1.3394716553894392)
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: 5.268
INFO:root:Testing 169 out of 14880 hypotheses for montys_heart (evidence > 1.3394716553894392)
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: 6.213
INFO:root:Testing 304 out of 23200 hypotheses for ramen_pack (evidence > 1.3394716553894392)
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: 6.778
INFO:root:Testing 211 out of 14864 hypotheses for hot_sauce (evidence > 1.3394716553894392)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.282
INFO:root:Testing 1456 out of 12560 hypotheses for harissa_oil (evidence > 1.3394716553894392)
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: 6.903
INFO:root:Testing 685 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3394716553894392)
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: 6.975
INFO:root:Testing 560 out of 16976 hypotheses for mustard_bottle (evidence > 1.3394716553894392)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.148
INFO:root:Testing 925 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3394716553894392)
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: 7.066
INFO:root:Testing 775 out of 19024 hypotheses for potted_meat_can (evidence > 1.3394716553894392)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.14
DEBUG:root:evidences for each object: [6.35618802 5.26763238 6.21278067 6.77765721 5.28225265 6.9026608
 6.97501861 7.14754835 7.06582864 7.14046938]
DEBUG:root:mean evidence: 6.513, std: 0.687 -> th=5.718038680402392
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.15
DEBUG:root:evidences for each object: [6.35618802 5.26763238 6.21278067 6.77765721 5.28225265 6.9026608
 6.97501861 7.14754835 7.06582864 7.14046938]
DEBUG:root:mean evidence: 6.513, std: 0.687 -> th=5.718038680402392
DEBUG:root:evidences for each object: [6.35618802 5.26763238 6.21278067 6.77765721 5.28225265 6.9026608
 6.97501861 7.14754835 7.06582864 7.14046938]
DEBUG:root:mean evidence: 6.513, std: 0.687 -> th=6.075416097927542
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: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.86307864,  0.08099588,  0.49853278],
       [-0.09343477,  0.9956254 ,  0.        ],
       [-0.4963519 , -0.04658029,  0.86687085]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00199895,  0.00761413, -0.00315313])}]
INFO:root:Testing 78 out of 14424 hypotheses for numenta_mug (evidence > 1.4295096701005976)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.837
INFO:root:Testing 143 out of 10992 hypotheses for montys_brain (evidence > 1.4295096701005976)
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: 5.456
INFO:root:Testing 148 out of 14880 hypotheses for montys_heart (evidence > 1.4295096701005976)
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: 6.329
INFO:root:Testing 251 out of 23200 hypotheses for ramen_pack (evidence > 1.4295096701005976)
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: 7.197
INFO:root:Testing 86 out of 14864 hypotheses for hot_sauce (evidence > 1.4295096701005976)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.549
INFO:root:Testing 498 out of 12560 hypotheses for harissa_oil (evidence > 1.4295096701005976)
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: 7.338
INFO:root:Testing 639 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4295096701005976)
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: 7.29
INFO:root:Testing 516 out of 16976 hypotheses for mustard_bottle (evidence > 1.4295096701005976)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.615
INFO:root:Testing 890 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4295096701005976)
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: 7.473
INFO:root:Testing 731 out of 19024 hypotheses for potted_meat_can (evidence > 1.4295096701005976)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.528
DEBUG:root:evidences for each object: [6.83744153 5.45578225 6.32947933 7.1972772  5.54943575 7.33809529
 7.29039874 7.61455911 7.47333909 7.52782482]
DEBUG:root:mean evidence: 6.861, std: 0.767 -> th=6.091647286433879
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:54604 - "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([[ 0.89357288,  0.08364231,  0.44105723],
       [-0.09319696,  0.99564769,  0.        ],
       [-0.43913761, -0.04110519,  0.89747898]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00109496,  0.00420961, -0.00287515])}]
INFO:root:Testing 67 out of 14424 hypotheses for numenta_mug (evidence > 1.5229118216084698)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.303
INFO:root:Testing 85 out of 10992 hypotheses for montys_brain (evidence > 1.5229118216084698)
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: 4.456
INFO:root:Testing 131 out of 14880 hypotheses for montys_heart (evidence > 1.5229118216084698)
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: 6.728
INFO:root:Testing 204 out of 23200 hypotheses for ramen_pack (evidence > 1.5229118216084698)
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: 7.649
INFO:root:Testing 35 out of 14864 hypotheses for hot_sauce (evidence > 1.5229118216084698)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.803
INFO:root:Testing 433 out of 12560 hypotheses for harissa_oil (evidence > 1.5229118216084698)
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: 7.783
INFO:root:Testing 576 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5229118216084698)
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: 7.638
INFO:root:Testing 422 out of 16976 hypotheses for mustard_bottle (evidence > 1.5229118216084698)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.066
INFO:root:Testing 812 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5229118216084698)
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: 7.855
INFO:root:Testing 666 out of 19024 hypotheses for potted_meat_can (evidence > 1.5229118216084698)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.963
DEBUG:root:evidences for each object: [7.30291995 4.45578225 6.72782959 7.64937607 5.80253076 7.78289659
 7.63807254 8.06614886 7.85463192 7.96308523]
DEBUG:root:mean evidence: 7.124, std: 1.102 -> th=6.452919091380752
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.99655073,  0.07702967, -0.03087203],
       [-0.0770664 ,  0.99702596,  0.        ],
       [ 0.03078021,  0.0023792 ,  0.99952335]]), 'pose_fully_defined': False}}, {'patch': array([-0.00415883, -0.01062307,  0.01593719])}]
INFO:root:Testing 54 out of 14424 hypotheses for numenta_mug (evidence > 1.6132297728451874)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.578
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 1.6132297728451874)
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: 4.464
INFO:root:Testing 102 out of 14880 hypotheses for montys_heart (evidence > 1.6132297728451874)
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: 6.695
INFO:root:Testing 113 out of 23200 hypotheses for ramen_pack (evidence > 1.6132297728451874)
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: 7.976
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 1.6132297728451874)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.803
INFO:root:Testing 375 out of 12560 hypotheses for harissa_oil (evidence > 1.6132297728451874)
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: 8.121
INFO:root:Testing 509 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6132297728451874)
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: 7.838
INFO:root:Testing 297 out of 16976 hypotheses for mustard_bottle (evidence > 1.6132297728451874)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.539
INFO:root:Testing 745 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6132297728451874)
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: 8.172
INFO:root:Testing 605 out of 19024 hypotheses for potted_meat_can (evidence > 1.6132297728451874)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.185
DEBUG:root:evidences for each object: [7.57822349 4.4637481  6.69451074 7.97605261 4.80253076 8.12121732
 7.83810681 8.53862184 8.17237319 8.18478271]
DEBUG:root:mean evidence: 7.237, std: 1.385 -> th=6.830897469368582
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.99143319,  0.07615957, -0.10611287],
       [-0.076592  ,  0.99706252,  0.        ],
       [ 0.10580117,  0.0081274 ,  0.99435409]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00125377, -0.00550361,  0.00023388])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.707724367342145)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.787
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 1.707724367342145)
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: 4.545
INFO:root:Testing 71 out of 14880 hypotheses for montys_heart (evidence > 1.707724367342145)
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: 6.821
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 1.707724367342145)
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: 8.266
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 1.707724367342145)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.803
INFO:root:Testing 290 out of 12560 hypotheses for harissa_oil (evidence > 1.707724367342145)
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: 8.447
INFO:root:Testing 457 out of 21832 hypotheses for tomato_soup_can (evidence > 1.707724367342145)
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: 8.232
INFO:root:Testing 251 out of 16976 hypotheses for mustard_bottle (evidence > 1.707724367342145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.981
INFO:root:Testing 677 out of 17728 hypotheses for tuna_fish_can (evidence > 1.707724367342145)
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: 8.56
INFO:root:Testing 565 out of 19024 hypotheses for potted_meat_can (evidence > 1.707724367342145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.433
DEBUG:root:evidences for each object: [7.78667116 4.54506908 6.82146187 8.26572962 3.80253076 8.44694748
 8.23221165 8.98135623 8.55958631 8.43333569]
DEBUG:root:mean evidence: 7.387, std: 1.704 -> th=7.185084981669736
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.92559286,  0.11018815,  0.36212763],
       [-0.11821133,  0.99298846,  0.        ],
       [-0.35958856, -0.04280759,  0.93212852]]), 'pose_fully_defined': False}}, {'patch': array([-0.00457316, -0.01160999, -0.00134257])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 1.7962712454174339)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.989
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 1.7962712454174339)
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: 4.707
INFO:root:Testing 55 out of 14880 hypotheses for montys_heart (evidence > 1.7962712454174339)
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: 7.18
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 1.7962712454174339)
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: 8.749
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 1.7962712454174339)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.803
INFO:root:Testing 262 out of 12560 hypotheses for harissa_oil (evidence > 1.7962712454174339)
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: 8.935
INFO:root:Testing 412 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7962712454174339)
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: 8.641
INFO:root:Testing 217 out of 16976 hypotheses for mustard_bottle (evidence > 1.7962712454174339)
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: 9.388
INFO:root:Testing 634 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7962712454174339)
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: 8.919
INFO:root:Testing 533 out of 19024 hypotheses for potted_meat_can (evidence > 1.7962712454174339)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.91
DEBUG:root:evidences for each object: [7.98863457 4.70713681 7.17950694 8.74862495 2.80253076 8.93479379
 8.64071617 9.38847071 8.91872666 8.91021972]
DEBUG:root:mean evidence: 7.622, std: 2.063 -> th=7.510776569084311
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.86851797,  0.1104664 ,  0.48319117],
       [-0.12617307,  0.99200824,  0.        ],
       [-0.47932962, -0.06096571,  0.87551487]]), 'pose_fully_defined': False}}, {'patch': array([-0.00141257, -0.01254755,  0.00035188])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 1.8776941422710776)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.098
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 1.8776941422710776)
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: 5.018
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 1.8776941422710776)
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: 7.349
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 1.8776941422710776)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.176
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 1.8776941422710776)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.448
INFO:root:Testing 262 out of 12560 hypotheses for harissa_oil (evidence > 1.8776941422710776)
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: 9.283
INFO:root:Testing 391 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8776941422710776)
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: 9.111
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 1.8776941422710776)
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: 9.792
INFO:root:Testing 625 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8776941422710776)
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: 9.401
INFO:root:Testing 517 out of 19024 hypotheses for potted_meat_can (evidence > 1.8776941422710776)
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: 9.299
DEBUG:root:evidences for each object: [8.09786315 5.01842608 7.34876856 9.1759242  2.44797048 9.28296518
 9.11052477 9.79198455 9.40113754 9.2990038 ]
DEBUG:root:mean evidence: 7.897, std: 2.262 -> th=7.833587636559112
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.79
DEBUG:root:evidences for each object: [8.09786315 5.01842608 7.34876856 9.1759242  2.44797048 9.28296518
 9.11052477 9.79198455 9.40113754 9.2990038 ]
DEBUG:root:mean evidence: 7.897, std: 2.262 -> th=7.833587636559112
DEBUG:root:evidences for each object: [8.09786315 5.01842608 7.34876856 9.1759242  2.44797048 9.28296518
 9.11052477 9.79198455 9.40113754 9.2990038 ]
DEBUG:root:mean evidence: 7.897, std: 2.262 -> th=8.323186863844057
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: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.97092644,  0.10606592,  0.21459699],
       [-0.10859591,  0.99408598,  0.        ],
       [-0.21332786, -0.02330436,  0.97670268]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00253154, -0.01410632,  0.00212815])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 1.9583969091397773)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.923
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 1.9583969091397773)
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: 5.18
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 1.9583969091397773)
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: 7.103
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 1.9583969091397773)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.366
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 1.9583969091397773)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.668
INFO:root:Testing 261 out of 12560 hypotheses for harissa_oil (evidence > 1.9583969091397773)
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: 9.705
INFO:root:Testing 368 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9583969091397773)
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: 9.278
INFO:root:Testing 195 out of 16976 hypotheses for mustard_bottle (evidence > 1.9583969091397773)
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: 9.733
INFO:root:Testing 613 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9583969091397773)
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: 9.896
INFO:root:Testing 498 out of 19024 hypotheses for potted_meat_can (evidence > 1.9583969091397773)
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: 9.55
DEBUG:root:evidences for each object: [7.92253583 5.17969663 7.10326637 9.36597632 2.6676591  9.70498964
 9.27846177 9.73267337 9.89553669 9.55008504]
DEBUG:root:mean evidence: 8.04, std: 2.293 -> th=7.9164293545109246
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 9.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.94031569,  0.1231438 ,  0.31724124],
       [-0.12985129,  0.99153348,  0.        ],
       [-0.31455531, -0.04119418,  0.94834487]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00178286, -0.00935081, -0.00301876])}]
INFO:root:Testing 37 out of 14424 hypotheses for numenta_mug (evidence > 1.9791073386277311)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 1.9791073386277311)
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: 5.312
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 1.9791073386277311)
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: 7.325
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 1.9791073386277311)
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: 8.366
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 1.9791073386277311)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.959
INFO:root:Testing 251 out of 12560 hypotheses for harissa_oil (evidence > 1.9791073386277311)
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: 8.705
INFO:root:Testing 345 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9791073386277311)
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: 9.639
INFO:root:Testing 184 out of 16976 hypotheses for mustard_bottle (evidence > 1.9791073386277311)
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: 9.932
INFO:root:Testing 601 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9791073386277311)
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: 10.154
INFO:root:Testing 478 out of 19024 hypotheses for potted_meat_can (evidence > 1.9791073386277311)
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: 9.979
DEBUG:root:evidences for each object: [ 7.1380219   5.3123475   7.32523183  8.36597632  2.95940386  8.70498964
  9.63926802  9.93209521 10.15380585  9.97944473]
DEBUG:root:mean evidence: 7.951, std: 2.223 -> th=8.123044677948197
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'tomato_soup_can', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:54605 - "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([[ 0.49446858,  0.14059739,  0.85774891],
       [-0.27349914,  0.96187225,  0.        ],
       [-0.82504488, -0.23459359,  0.51406887]]), 'pose_fully_defined': False}}, {'patch': array([-0.00730999, -0.00810048, -0.00047534])}]
INFO:root:Testing 35 out of 14424 hypotheses for numenta_mug (evidence > 2.0307611694870484)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.261
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 2.0307611694870484)
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: 4.312
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 2.0307611694870484)
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: 7.764
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 2.0307611694870484)
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: 7.366
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 2.0307611694870484)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.285
INFO:root:Testing 236 out of 12560 hypotheses for harissa_oil (evidence > 2.0307611694870484)
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: 7.705
INFO:root:Testing 323 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0307611694870484)
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: 8.929
INFO:root:Testing 177 out of 16976 hypotheses for mustard_bottle (evidence > 2.0307611694870484)
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: 9.897
INFO:root:Testing 582 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0307611694870484)
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: 10.123
INFO:root:Testing 447 out of 19024 hypotheses for potted_meat_can (evidence > 2.0307611694870484)
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: 9.837
DEBUG:root:evidences for each object: [ 7.26074236  4.3123475   7.76434292  7.36597632  3.28549552  7.70498964
  8.92937556  9.89662012 10.1231058   9.83697851]
DEBUG:root:mean evidence: 7.648, std: 2.191 -> th=8.098484643103681
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:54607 - "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([[ 0.94931736,  0.11640726,  0.291969  ],
       [-0.12171046,  0.99256565,  0.        ],
       [-0.2897984 , -0.03553568,  0.95642778]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00672823, -0.00946942, -0.00235146])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 2.0246211607759204)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.35
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 2.0246211607759204)
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: 3.312
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 2.0246211607759204)
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: 6.764
INFO:root:Testing 27 out of 23200 hypotheses for ramen_pack (evidence > 2.0246211607759204)
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: 7.477
INFO:root:Testing 27 out of 14864 hypotheses for hot_sauce (evidence > 2.0246211607759204)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.73
INFO:root:Testing 223 out of 12560 hypotheses for harissa_oil (evidence > 2.0246211607759204)
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: 6.986
INFO:root:Testing 301 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0246211607759204)
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: 7.929
INFO:root:Testing 172 out of 16976 hypotheses for mustard_bottle (evidence > 2.0246211607759204)
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: 10.246
INFO:root:Testing 559 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0246211607759204)
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: 9.963
INFO:root:Testing 415 out of 19024 hypotheses for potted_meat_can (evidence > 2.0246211607759204)
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: 9.576
DEBUG:root:evidences for each object: [ 6.34974973  3.3123475   6.76434292  7.47658194  3.7301997   6.98552231
  7.92937556 10.24627261  9.96310859  9.57569208]
DEBUG:root:mean evidence: 7.233, std: 2.264 -> th=8.197018091891142
INFO:root:current most likely hypothesis: mustard_bottle with evidence 10.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:54608 - "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([[ 0.87104467,  0.00792903, -0.49113981],
       [-0.00910253,  0.99995857,  0.        ],
       [ 0.49111946,  0.00447061,  0.87108076]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01290139, -0.01372665,  0.01495379])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 2.0492545229727845)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.35
INFO:root:Testing 7 out of 10992 hypotheses for montys_brain (evidence > 2.0492545229727845)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.312
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 2.0492545229727845)
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: 5.764
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 2.0492545229727845)
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: 6.477
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 2.0492545229727845)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.84
INFO:root:Testing 200 out of 12560 hypotheses for harissa_oil (evidence > 2.0492545229727845)
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: 5.986
INFO:root:Testing 259 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0492545229727845)
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: 6.929
INFO:root:Testing 161 out of 16976 hypotheses for mustard_bottle (evidence > 2.0492545229727845)
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: 9.246
INFO:root:Testing 525 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0492545229727845)
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: 8.963
INFO:root:Testing 368 out of 19024 hypotheses for potted_meat_can (evidence > 2.0492545229727845)
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: 9.815
DEBUG:root:evidences for each object: [5.34974973 2.3123475  5.76434292 6.47658194 3.8395635  5.98552231
 6.92937556 9.24627261 8.96310859 9.81508202]
DEBUG:root:mean evidence: 6.468, std: 2.27 -> th=7.852065615598607
INFO:root:current most likely hypothesis: potted_meat_can with evidence 9.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.97423942,  0.03994888, -0.22194965],
       [-0.04097076,  0.99916035,  0.        ],
       [ 0.22176329,  0.00909345,  0.97505813]]), 'pose_fully_defined': False}}, {'patch': array([0.00284062, 0.00507227, 0.01167392])}]
INFO:root:Testing 28 out of 14424 hypotheses for numenta_mug (evidence > 1.9630164038996512)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.35
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 1.9630164038996512)
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: 1.96
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 1.9630164038996512)
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: 4.764
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 1.9630164038996512)
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: 5.477
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 1.9630164038996512)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.952
INFO:root:Testing 137 out of 12560 hypotheses for harissa_oil (evidence > 1.9630164038996512)
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: 4.986
INFO:root:Testing 222 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9630164038996512)
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: 5.929
INFO:root:Testing 143 out of 16976 hypotheses for mustard_bottle (evidence > 1.9630164038996512)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.246
INFO:root:Testing 483 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9630164038996512)
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: 7.963
INFO:root:Testing 315 out of 19024 hypotheses for potted_meat_can (evidence > 1.9630164038996512)
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: 9.479
DEBUG:root:evidences for each object: [4.34974973 1.95961296 4.76434292 5.47658194 2.9515744  4.98552231
 5.92937556 8.24627261 7.96310859 9.47918239]
DEBUG:root:mean evidence: 5.611, std: 2.251 -> th=7.583345914272011
INFO:root:current most likely hypothesis: potted_meat_can with evidence 9.48
DEBUG:root:evidences for each object: [4.34974973 1.95961296 4.76434292 5.47658194 2.9515744  4.98552231
 5.92937556 8.24627261 7.96310859 9.47918239]
DEBUG:root:mean evidence: 5.611, std: 2.251 -> th=7.583345914272011
DEBUG:root:evidences for each object: [4.34974973 1.95961296 4.76434292 5.47658194 2.9515744  4.98552231
 5.92937556 8.24627261 7.96310859 9.47918239]
DEBUG:root:mean evidence: 5.611, std: 2.251 -> th=8.057305033914012
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.96097561,  0.01232187, -0.27635854],
       [-0.01282119,  0.99991781,  0.        ],
       [ 0.27633583,  0.00354325,  0.96105461]]), 'pose_fully_defined': False}}, {'patch': array([0.00088461, 0.01213082, 0.00833091])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 1.8958364785680022)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.35
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 1.8958364785680022)
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: 1.878
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 1.8958364785680022)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.764
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 1.8958364785680022)
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: 4.477
INFO:root:Testing 33 out of 14864 hypotheses for hot_sauce (evidence > 1.8958364785680022)
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: 1.952
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 1.8958364785680022)
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: 3.986
INFO:root:Testing 168 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8958364785680022)
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: 4.929
INFO:root:Testing 124 out of 16976 hypotheses for mustard_bottle (evidence > 1.8958364785680022)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.246
INFO:root:Testing 445 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8958364785680022)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.963
INFO:root:Testing 254 out of 19024 hypotheses for potted_meat_can (evidence > 1.8958364785680022)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.479
DEBUG:root:evidences for each object: [3.34974973 1.87811805 3.76434292 4.47658194 1.9515744  3.98552231
 4.92937556 7.24627261 6.96310859 8.47918239]
DEBUG:root:mean evidence: 4.702, std: 2.115 -> th=6.783345914272012
INFO:root:current most likely hypothesis: potted_meat_can with evidence 8.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.9431333 , -0.03511662, -0.33055468],
       [ 0.03720821,  0.99930753, -0.        ],
       [ 0.33032578, -0.01229935,  0.94378684]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00595416,  0.01420562, -0.00518482])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 1.695836478568003)
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: 2.35
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 1.695836478568003)
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: 1.696
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 1.695836478568003)
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: 2.764
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 1.695836478568003)
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: 3.477
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 1.695836478568003)
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: 1.692
INFO:root:Testing 70 out of 12560 hypotheses for harissa_oil (evidence > 1.695836478568003)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.986
INFO:root:Testing 174 out of 21832 hypotheses for tomato_soup_can (evidence > 1.695836478568003)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.929
INFO:root:Testing 119 out of 16976 hypotheses for mustard_bottle (evidence > 1.695836478568003)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.246
INFO:root:Testing 409 out of 17728 hypotheses for tuna_fish_can (evidence > 1.695836478568003)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.963
INFO:root:Testing 251 out of 19024 hypotheses for potted_meat_can (evidence > 1.695836478568003)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.479
DEBUG:root:evidences for each object: [2.34974973 1.69578322 2.76434292 3.47658194 1.69173083 2.98552231
 3.92937556 6.24627261 5.96310859 7.47918239]
DEBUG:root:mean evidence: 3.858, std: 1.924 -> th=5.983345914272012
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.89869116, -0.02075267,  0.43809077],
       [ 0.02308595,  0.99973348, -0.        ],
       [-0.43797401,  0.01011374,  0.89893074]]), 'pose_fully_defined': False}}, {'patch': array([3.75608530e-05, 7.07225800e-03, 2.08280265e-03])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 1.4958364785680027)
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: 1.917
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 1.4958364785680027)
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: 1.493
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.4958364785680027)
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: 1.764
INFO:root:Testing 40 out of 23200 hypotheses for ramen_pack (evidence > 1.4958364785680027)
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: 2.477
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 1.4958364785680027)
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: 1.494
INFO:root:Testing 73 out of 12560 hypotheses for harissa_oil (evidence > 1.4958364785680027)
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: 1.986
INFO:root:Testing 164 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4958364785680027)
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: 2.929
INFO:root:Testing 104 out of 16976 hypotheses for mustard_bottle (evidence > 1.4958364785680027)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.246
INFO:root:Testing 411 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4958364785680027)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.963
INFO:root:Testing 239 out of 19024 hypotheses for potted_meat_can (evidence > 1.4958364785680027)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.479
DEBUG:root:evidences for each object: [1.91718041 1.49345202 1.76434292 2.47658194 1.49408482 1.98552231
 2.92937556 5.24627261 4.96310859 6.47918239]
DEBUG:root:mean evidence: 3.075, std: 1.717 -> th=5.183345914272012
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.96298156, -0.02605028,  0.26830559],
       [ 0.0270418 ,  0.9996343 , -0.        ],
       [-0.26820748,  0.00725547,  0.96333385]]), 'pose_fully_defined': False}}, {'patch': array([-0.00218308,  0.00528273,  0.00476287])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 1.2958364785680025)
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: 2.142
INFO:root:Testing 10763 out of 10992 hypotheses for montys_brain (evidence > 1.2958364785680025)
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 0.03 seconds. New max evidence: 1.291
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 1.2958364785680025)
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: 1.289
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 1.2958364785680025)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.477
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 1.2958364785680025)
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: 1.294
INFO:root:Testing 111 out of 12560 hypotheses for harissa_oil (evidence > 1.2958364785680025)
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: 1.296
INFO:root:Testing 182 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2958364785680025)
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: 1.929
INFO:root:Testing 125 out of 16976 hypotheses for mustard_bottle (evidence > 1.2958364785680025)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.246
INFO:root:Testing 376 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2958364785680025)
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: 3.963
INFO:root:Testing 237 out of 19024 hypotheses for potted_meat_can (evidence > 1.2958364785680025)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.479
DEBUG:root:evidences for each object: [2.14246995 1.29112756 1.28933588 1.47658194 1.29424133 1.29561648
 1.92937556 4.24627261 3.96310859 5.47918239]
DEBUG:root:mean evidence: 2.441, std: 1.462 -> th=4.383345914272011
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.79527296, -0.01965257,  0.60593292],
       [ 0.02470419,  0.9996948 , -0.        ],
       [-0.60574799,  0.01496908,  0.79551575]]), 'pose_fully_defined': False}}, {'patch': array([-0.00989863,  0.00849773,  0.01044945])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 1.0958364785680024)
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: 2.357
INFO:root:Testing 60 out of 10992 hypotheses for montys_brain (evidence > 1.0958364785680024)
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: 1.089
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 1.0958364785680024)
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: 1.077
INFO:root:Testing 78 out of 23200 hypotheses for ramen_pack (evidence > 1.0958364785680024)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 1.0958364785680024)
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: 1.095
INFO:root:Testing 296 out of 12560 hypotheses for harissa_oil (evidence > 1.0958364785680024)
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: 1.095
INFO:root:Testing 169 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0958364785680024)
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: 1.093
INFO:root:Testing 128 out of 16976 hypotheses for mustard_bottle (evidence > 1.0958364785680024)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.246
INFO:root:Testing 328 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0958364785680024)
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: 2.963
INFO:root:Testing 239 out of 19024 hypotheses for potted_meat_can (evidence > 1.0958364785680024)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.479
DEBUG:root:evidences for each object: [2.35733149 1.08891577 1.07728543 1.0945221  1.09529936 1.09478502
 1.09319412 3.24627261 2.96310859 4.47918239]
DEBUG:root:mean evidence: 1.959, std: 1.17 -> th=3.5833459142720114
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.83666856, -0.05751956, -0.54468085],
       [ 0.06858643,  0.99764518, -0.        ],
       [ 0.54339822, -0.03735771,  0.83864341]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00334533,  0.01375781, -0.00576497])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 0.8958364785680026)
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: 2.603
INFO:root:Testing 53 out of 10992 hypotheses for montys_brain (evidence > 0.8958364785680026)
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: 0.89
INFO:root:Testing 46 out of 14880 hypotheses for montys_heart (evidence > 0.8958364785680026)
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: 0.889
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 0.8958364785680026)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.894
INFO:root:Testing 150 out of 14864 hypotheses for hot_sauce (evidence > 0.8958364785680026)
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: 0.896
INFO:root:Testing 532 out of 12560 hypotheses for harissa_oil (evidence > 0.8958364785680026)
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: 0.895
INFO:root:Testing 175 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8958364785680026)
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: 0.894
INFO:root:Testing 133 out of 16976 hypotheses for mustard_bottle (evidence > 0.8958364785680026)
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: 2.246
INFO:root:Testing 318 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8958364785680026)
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: 1.963
INFO:root:Testing 222 out of 19024 hypotheses for potted_meat_can (evidence > 0.8958364785680026)
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: 3.479
DEBUG:root:evidences for each object: [2.60300693 0.89023147 0.88857683 0.89369873 0.8957883  0.89504334
 0.89367665 2.24627261 1.96310859 3.47918239]
DEBUG:root:mean evidence: 1.565, std: 0.899 -> th=2.7833459142720116
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.48
DEBUG:root:evidences for each object: [2.60300693 0.89023147 0.88857683 0.89369873 0.8957883  0.89504334
 0.89367665 2.24627261 1.96310859 3.47918239]
DEBUG:root:mean evidence: 1.565, std: 0.899 -> th=2.7833459142720116
DEBUG:root:evidences for each object: [2.60300693 0.89023147 0.88857683 0.89369873 0.8957883  0.89504334
 0.89367665 2.24627261 1.96310859 3.47918239]
DEBUG:root:mean evidence: 1.565, std: 0.899 -> th=2.9573050339140123
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.69453582, -0.05243179, -0.71754505],
       [ 0.07527765,  0.99716261, -0.        ],
       [ 0.7155091 , -0.05401511,  0.6965121 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00147581,  0.00544838, -0.00845959])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 0.6958364785680029)
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: 2.282
INFO:root:Testing 71 out of 10992 hypotheses for montys_brain (evidence > 0.6958364785680029)
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: 0.696
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 0.6958364785680029)
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: 0.693
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 0.6958364785680029)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.692
INFO:root:Testing 289 out of 14864 hypotheses for hot_sauce (evidence > 0.6958364785680029)
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: 0.696
INFO:root:Testing 492 out of 12560 hypotheses for harissa_oil (evidence > 0.6958364785680029)
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: 0.696
INFO:root:Testing 170 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6958364785680029)
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: 0.694
INFO:root:Testing 130 out of 16976 hypotheses for mustard_bottle (evidence > 0.6958364785680029)
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: 1.246
INFO:root:Testing 278 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6958364785680029)
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: 1.984
INFO:root:Testing 254 out of 19024 hypotheses for potted_meat_can (evidence > 0.6958364785680029)
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: 2.479
DEBUG:root:evidences for each object: [2.28245657 0.69578322 0.69291815 0.69231015 0.69580599 0.69567373
 0.69418193 1.24627261 1.9839946  2.47918239]
DEBUG:root:mean evidence: 1.216, std: 0.704 -> th=1.9833459142720116
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:54610 - "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([[ 0.86874889, -0.07999077, -0.48875029],
       [ 0.09168798,  0.99578779, -0.        ],
       [ 0.48669157, -0.04481253,  0.87242372]]), 'pose_fully_defined': False}}, {'patch': array([-0.00252976,  0.00833886, -0.00270788])}]
INFO:root:Testing 44 out of 14424 hypotheses for numenta_mug (evidence > 0.4958364785680027)
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: 2.424
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 0.4958364785680027)
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: 0.493
INFO:root:Testing 53 out of 14880 hypotheses for montys_heart (evidence > 0.4958364785680027)
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: 0.493
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 0.4958364785680027)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.496
INFO:root:Testing 1626 out of 14864 hypotheses for hot_sauce (evidence > 0.4958364785680027)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 0.496
INFO:root:Testing 11048 out of 12560 hypotheses for harissa_oil (evidence > 0.4958364785680027)
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: 0.71
INFO:root:Testing 153 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4958364785680027)
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: 0.494
INFO:root:Testing 124 out of 16976 hypotheses for mustard_bottle (evidence > 0.4958364785680027)
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: 0.746
INFO:root:Testing 296 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4958364785680027)
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: 2.33
INFO:root:Testing 217 out of 19024 hypotheses for potted_meat_can (evidence > 0.4958364785680027)
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: 1.97
DEBUG:root:evidences for each object: [2.42432495 0.49345202 0.49347872 0.49561153 0.49582642 0.70986856
 0.49358735 0.74616174 2.32998149 1.9699398 ]
DEBUG:root:mean evidence: 1.065, std: 0.782 -> th=1.9394599589297816
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:54612 - "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([[ 0.81183244, -0.07531688, -0.57901249],
       [ 0.09237723,  0.99572408, -0.        ],
       [ 0.57653668, -0.05348757,  0.81531867]]), 'pose_fully_defined': False}}, {'patch': array([-0.00416562,  0.00162083, -0.00930128])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 0.4848649897324453)
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: 2.467
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 0.4848649897324453)
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: 0.473
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 0.4848649897324453)
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: 0.482
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.4848649897324453)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 0.4848649897324453)
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: 0.485
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 0.4848649897324453)
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: 0.966
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4848649897324453)
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: 0.485
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 0.4848649897324453)
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: 0.847
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4848649897324453)
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: 2.542
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 0.4848649897324453)
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: 2.121
DEBUG:root:evidences for each object: [2.46713994 0.47276569 0.48187967 0.48087652 0.48478056 0.96638553
 0.48479159 0.84723459 2.5417064  2.12073824]
DEBUG:root:mean evidence: 1.135, std: 0.835 -> th=2.0333651237858694
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.86271976,  0.027486  , -0.50493478],
       [-0.03184355,  0.99949287,  0.        ],
       [ 0.50467871,  0.01607892,  0.8631575 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01279649, -0.06087967,  0.01541768])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 0.5083412809464671)
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: 2.474
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 0.5083412809464671)
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: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.5083412809464671)
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: 0.483
INFO:root:Testing 76 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5083412809464671)
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: 1.542
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 0.5083412809464671)
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: 1.121
DEBUG:root:evidences for each object: [2.47350087 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 1.5417064  1.12073824]
DEBUG:root:mean evidence: 0.851, std: 0.643 -> th=1.978800696756228
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.65799584,  0.11538343,  0.74412911],
       [-0.17272043,  0.98497089,  0.        ],
       [-0.73294551, -0.1285263 ,  0.66803583]]), 'pose_fully_defined': False}}, {'patch': array([0.00368985, 0.01055692, 0.00066017])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.4947001741890569)
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: 2.841
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4947001741890569)
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: 0.542
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.4947001741890569)
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: 0.484
DEBUG:root:evidences for each object: [2.84067439 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.724, std: 0.706 -> th=2.2725395086292517
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.55762593,  0.10881498,  0.82292929],
       [-0.19152718,  0.98148731,  0.        ],
       [-0.80769466, -0.15761332,  0.5681438 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00147871,  0.01409965,  0.00023961])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.5681348771573127)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.165
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.542
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [3.16488262 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.756, std: 0.803 -> th=2.531906094656015
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.16
DEBUG:root:evidences for each object: [3.16488262 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.756, std: 0.803 -> th=2.531906094656015
DEBUG:root:evidences for each object: [3.16488262 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.756, std: 0.803 -> th=2.6901502255720158
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.48266068,  0.09865217,  0.87023354],
       [-0.2002523 ,  0.97974436,  0.        ],
       [-0.85260641, -0.17426627,  0.4926394 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00473508,  0.01599148, -0.00030785])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 0.6329765236640035)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.378
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.542
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [3.37750881 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.778, std: 0.867 -> th=2.70200704428749
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.49828258,  0.09410999,  0.86189198],
       [-0.18558763,  0.98262772,  0.        ],
       [-0.84691895, -0.15995649,  0.50709192]]), 'pose_fully_defined': False}}, {'patch': array([-0.00387041,  0.01424105, -0.00451683])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.6755017610718723)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.438
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.542
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [3.43817435 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.784, std: 0.885 -> th=2.750539483289625
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.16525657,  0.09196786,  0.98195325],
       [-0.48628384,  0.87380091,  0.        ],
       [-0.85803164, -0.47750799,  0.18912382]]), 'pose_fully_defined': False}}, {'patch': array([-0.0003741 ,  0.00464755, -0.00257979])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.6876348708224063)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.34
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.542
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [3.33989201 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.774, std: 0.856 -> th=2.671913604416889
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[-0.09074618,  0.10956874,  0.98982818],
       [-0.77015743, -0.63785385,  0.        ],
       [ 0.63136571, -0.76232353,  0.14226798]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01061222, -0.06217424,  0.00714125])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.667978401104222)
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: 2.34
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.473
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.481
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.542
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [2.33989201 0.47276569 0.48187967 0.48087652 0.48478056 0.48479832
 0.48479159 0.48334986 0.5417064  0.48447444]
DEBUG:root:mean evidence: 0.674, std: 0.556 -> th=1.8719136044168891
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:54614 - "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([[ 0.79811682,  0.12213469,  0.58999378],
       [-0.15126766,  0.98849284,  0.        ],
       [-0.58320463, -0.08924698,  0.80740779]]), 'pose_fully_defined': False}}, {'patch': array([-0.00476026, -0.00624957, -0.00315603])}]
INFO:root:Testing 35 out of 14424 hypotheses for numenta_mug (evidence > 0.4679784011042223)
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: 2.604
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.4679784011042223)
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: 0.468
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.4679784011042223)
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: 0.466
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.4679784011042223)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.46
INFO:root:Testing 34 out of 14864 hypotheses for hot_sauce (evidence > 0.4679784011042223)
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: 0.468
INFO:root:Testing 24 out of 12560 hypotheses for harissa_oil (evidence > 0.4679784011042223)
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: 0.468
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4679784011042223)
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: 0.467
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 0.4679784011042223)
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: 0.459
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4679784011042223)
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: 0.468
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 0.4679784011042223)
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: 0.467
DEBUG:root:evidences for each object: [2.60407876 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.679, std: 0.642 -> th=2.0832630105736447
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:54615 - "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([[ 0.5724779 ,  0.10250376,  0.81348757],
       [-0.1762498 ,  0.98434547,  0.        ],
       [-0.80075281, -0.14337702,  0.5815823 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00108786, -0.00141846, -0.00194699])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.520815752643411)
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: 2.734
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.466
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.46
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.459
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidences for each object: [2.73360202 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.692, std: 0.68 -> th=2.186881612280977
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.73
DEBUG:root:evidences for each object: [2.73360202 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.692, std: 0.68 -> th=2.186881612280977
DEBUG:root:evidences for each object: [2.73360202 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.692, std: 0.68 -> th=2.323561713048538
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:54617 - "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([[-0.77332752, -0.0755902 ,  0.62948444],
       [ 0.09728305, -0.99525675,  0.        ],
       [ 0.62649864,  0.06123817,  0.77701309]]), 'pose_fully_defined': False}}, {'patch': array([0.00342665, 0.01862614, 0.00535634])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 0.5467204030702444)
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: 2.473
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.466
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.46
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.459
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidences for each object: [2.47268902 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.666, std: 0.602 -> th=1.9781512189470831
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:54618 - "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([[-0.76808442, -0.08272443,  0.63498267],
       [ 0.10708298, -0.99425009,  0.        ],
       [ 0.63133158,  0.06799584,  0.77252638]]), 'pose_fully_defined': False}}, {'patch': array([-0.00034077,  0.01678691,  0.00178892])}]
INFO:root:Testing 77 out of 14424 hypotheses for numenta_mug (evidence > 0.4945378047367708)
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: 2.17
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.466
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.46
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.459
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.468
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.467
DEBUG:root:evidences for each object: [2.17012979 0.46758063 0.46640312 0.45950341 0.46763053 0.46778658
 0.46720182 0.45902101 0.46789425 0.46706267]
DEBUG:root:mean evidence: 0.636, std: 0.511 -> th=1.73610383207935
INFO:root:current most likely hypothesis: numenta_mug with evidence 2.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:54618 - "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([[-0.78937239, -0.08011249,  0.60866512],
       [ 0.10097017, -0.99488945,  0.        ],
       [ 0.60555451,  0.06145702,  0.79342723]]), 'pose_fully_defined': False}}, {'patch': array([-0.000571  ,  0.01320669,  0.00076941])}]
INFO:root:Testing 91 out of 14424 hypotheses for numenta_mug (evidence > 0.43402595801983734)
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: 1.834
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 0.43402595801983734)
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: 0.431
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.43402595801983734)
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: 0.433
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 0.43402595801983734)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.434
INFO:root:Testing 53 out of 14864 hypotheses for hot_sauce (evidence > 0.43402595801983734)
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: 0.434
INFO:root:Testing 20 out of 12560 hypotheses for harissa_oil (evidence > 0.43402595801983734)
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: 0.434
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 0.43402595801983734)
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: 0.43
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 0.43402595801983734)
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: 0.433
INFO:root:Testing 54 out of 17728 hypotheses for tuna_fish_can (evidence > 0.43402595801983734)
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: 0.505
INFO:root:Testing 39 out of 19024 hypotheses for potted_meat_can (evidence > 0.43402595801983734)
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: 0.431
DEBUG:root:evidences for each object: [1.83396181 0.43098234 0.43281856 0.43365896 0.43392794 0.43370918
 0.42964447 0.43348622 0.50515607 0.43136869]
DEBUG:root:mean evidence: 0.58, std: 0.419 -> th=1.467169448967675
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:54618 - "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([[-0.67933319, -0.06456248,  0.73098433],
       [ 0.0946117 , -0.99551425,  0.        ],
       [ 0.72770532,  0.06915967,  0.68239424]]), 'pose_fully_defined': False}}, {'patch': array([-0.0025898 ,  0.00913187, -0.00189851])}]
INFO:root:Testing 95 out of 14424 hypotheses for numenta_mug (evidence > 0.3667923622419187)
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: 1.526
INFO:root:Testing 10724 out of 10992 hypotheses for montys_brain (evidence > 0.3667923622419187)
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 0.03 seconds. New max evidence: 0.365
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 0.3667923622419187)
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: 0.366
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 0.3667923622419187)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.366
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 0.3667923622419187)
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: 0.367
INFO:root:Testing 54 out of 12560 hypotheses for harissa_oil (evidence > 0.3667923622419187)
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: 0.365
INFO:root:Testing 45 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3667923622419187)
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: 0.365
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 0.3667923622419187)
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: 0.364
INFO:root:Testing 80 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3667923622419187)
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: 0.366
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 0.3667923622419187)
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: 0.474
DEBUG:root:evidences for each object: [1.52599633 0.36539234 0.36638286 0.36597632 0.36654555 0.36456839
 0.36538615 0.36376399 0.36574572 0.474128  ]
DEBUG:root:mean evidence: 0.492, std: 0.346 -> th=1.2207970603223404
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:54618 - "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([[-0.7788788 , -0.05624424,  0.62464742],
       [ 0.07202426, -0.99740288,  0.        ],
       [ 0.62302514,  0.04498977,  0.78090691]]), 'pose_fully_defined': False}}, {'patch': array([-0.00365029,  0.00802157, -0.00415763])}]
INFO:root:Testing 86 out of 14424 hypotheses for numenta_mug (evidence > 0.30519926508058504)
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: 1.162
INFO:root:Testing 23 out of 10992 hypotheses for montys_brain (evidence > 0.30519926508058504)
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: 0.301
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 0.30519926508058504)
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: 0.304
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 0.30519926508058504)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.3
INFO:root:Testing 53 out of 14864 hypotheses for hot_sauce (evidence > 0.30519926508058504)
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: 0.305
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 0.30519926508058504)
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: 0.304
INFO:root:Testing 66 out of 21832 hypotheses for tomato_soup_can (evidence > 0.30519926508058504)
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: 0.305
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 0.30519926508058504)
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: 0.302
INFO:root:Testing 86 out of 17728 hypotheses for tuna_fish_can (evidence > 0.30519926508058504)
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: 0.625
INFO:root:Testing 72 out of 19024 hypotheses for potted_meat_can (evidence > 0.30519926508058504)
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: 0.583
DEBUG:root:evidences for each object: [1.16206554 0.30135528 0.30432302 0.30007859 0.30489277 0.30432067
 0.30516094 0.30224249 0.62512245 0.5831329 ]
DEBUG:root:mean evidence: 0.449, std: 0.266 -> th=0.929652430082891
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:54620 - "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([[-0.79563836,  0.01370953,  0.60561675],
       [-0.0172283 , -0.99985158,  0.        ],
       [ 0.60552687, -0.01043375,  0.79575646]]), 'pose_fully_defined': False}}, {'patch': array([-0.00401637,  0.00462981, -0.00525195])}]
INFO:root:Testing 106 out of 14424 hypotheses for numenta_mug (evidence > 0.23241310752072275)
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: 0.878
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 0.23241310752072275)
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: 0.23
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 0.23241310752072275)
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: 0.232
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 0.23241310752072275)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.231
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 0.23241310752072275)
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: 0.23
INFO:root:Testing 78 out of 12560 hypotheses for harissa_oil (evidence > 0.23241310752072275)
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: 0.232
INFO:root:Testing 66 out of 21832 hypotheses for tomato_soup_can (evidence > 0.23241310752072275)
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: 0.535
INFO:root:Testing 66 out of 16976 hypotheses for mustard_bottle (evidence > 0.23241310752072275)
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: 0.232
INFO:root:Testing 155 out of 17728 hypotheses for tuna_fish_can (evidence > 0.23241310752072275)
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: 0.738
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 0.23241310752072275)
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: 0.834
DEBUG:root:evidences for each object: [0.8782348  0.22995718 0.23207915 0.23122076 0.22997261 0.23207281
 0.53538352 0.23214043 0.73814155 0.83368479]
DEBUG:root:mean evidence: 0.437, std: 0.266 -> th=0.7025878401753006
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.88
DEBUG:root:evidences for each object: [0.8782348  0.22995718 0.23207915 0.23122076 0.22997261 0.23207281
 0.53538352 0.23214043 0.73814155 0.83368479]
DEBUG:root:mean evidence: 0.437, std: 0.266 -> th=0.7025878401753006
DEBUG:root:evidences for each object: [0.8782348  0.22995718 0.23207915 0.23122076 0.22997261 0.23207281
 0.53538352 0.23214043 0.73814155 0.83368479]
DEBUG:root:mean evidence: 0.437, std: 0.266 -> th=0.746499580186257
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: {'tuna_fish_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:54622 - "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([[ 0.81932632, -0.00250416,  0.573322  ],
       [ 0.00305635,  0.99999533, -0.        ],
       [-0.57331932,  0.00175227,  0.81933014]]), 'pose_fully_defined': False}}, {'patch': array([-0.0120905 , -0.00615606, -0.01984918])}]
INFO:root:Testing 88 out of 14424 hypotheses for numenta_mug (evidence > 0.17564696004382507)
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: 0.69
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 0.17564696004382507)
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: 0.17
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 0.17564696004382507)
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: 0.57
INFO:root:Testing 100 out of 23200 hypotheses for ramen_pack (evidence > 0.17564696004382507)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.659
INFO:root:Testing 12433 out of 14864 hypotheses for hot_sauce (evidence > 0.17564696004382507)
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: 0.71
INFO:root:Testing 79 out of 12560 hypotheses for harissa_oil (evidence > 0.17564696004382507)
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: 0.616
INFO:root:Testing 64 out of 21832 hypotheses for tomato_soup_can (evidence > 0.17564696004382507)
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: 0.924
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 0.17564696004382507)
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: 0.677
INFO:root:Testing 214 out of 17728 hypotheses for tuna_fish_can (evidence > 0.17564696004382507)
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: 0.972
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 0.17564696004382507)
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: 0.649
DEBUG:root:evidences for each object: [0.68977403 0.16999185 0.57046528 0.65872778 0.70957938 0.61613842
 0.92388567 0.67716449 0.97247962 0.64859053]
DEBUG:root:mean evidence: 0.664, std: 0.205 -> th=0.7779836937609531
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:54623 - "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([[ 0.56301629,  0.02133404,  0.82617039],
       [-0.03786524,  0.99928285,  0.        ],
       [-0.82557791, -0.03128314,  0.56342034]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00222875, -0.01738207, -0.00354494])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 0.19449592344023825)
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: 0.932
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.19449592344023825)
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: 0.937
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.19449592344023825)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.022
INFO:root:Testing 2943 out of 14864 hypotheses for hot_sauce (evidence > 0.19449592344023825)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.157
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 0.19449592344023825)
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: 1.023
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19449592344023825)
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: 1.108
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 0.19449592344023825)
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: 1.071
INFO:root:Testing 69 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19449592344023825)
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: 1.161
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 0.19449592344023825)
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: 1.041
DEBUG:root:evidences for each object: [0.93239703 0.16999185 0.93742334 1.02217645 1.15707686 1.02320193
 1.10846552 1.07083857 1.16086595 1.04079126]
DEBUG:root:mean evidence: 0.962, std: 0.274 -> th=0.9286927629127085
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'harissa_oil', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'montys_heart', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[-0.04410041,  0.02518932,  0.99870949],
       [-0.49597694, -0.86833569,  0.        ],
       [ 0.8672151 , -0.49533688,  0.05078729]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00126126, -0.05236355, -0.00458656])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 0.2321731907281771)
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: 0.535
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 233 out of 14880 hypotheses for montys_heart (evidence > 0.2321731907281771)
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: 0.68
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.2321731907281771)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2829 out of 14864 hypotheses for hot_sauce (evidence > 0.2321731907281771)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.591
INFO:root:Testing 309 out of 12560 hypotheses for harissa_oil (evidence > 0.2321731907281771)
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: 0.469
INFO:root:Testing 109 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2321731907281771)
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: 0.232
INFO:root:Testing 134 out of 16976 hypotheses for mustard_bottle (evidence > 0.2321731907281771)
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: 0.631
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2321731907281771)
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: 0.941
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 0.2321731907281771)
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: 0.57
DEBUG:root:evidences for each object: [0.53482574 0.16999185 0.67962598 0.17560741 1.59066554 0.46890079
 0.23157774 0.63095034 0.94065227 0.56970233]
DEBUG:root:mean evidence: 0.599, std: 0.403 -> th=1.2725324322000247
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[ 0.12628749,  0.03162025,  0.9914896 ],
       [-0.24288539,  0.97005499,  0.        ],
       [-0.96179944, -0.24081834,  0.13018591]]), 'pose_fully_defined': False}}, {'patch': array([-2.80263262e-03,  1.40227425e-02, -2.23395125e-05])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.31813310805000605)
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: 0.516
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.31813310805000605)
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: 0.946
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 139 out of 14864 hypotheses for hot_sauce (evidence > 0.31813310805000605)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.091
INFO:root:Testing 33 out of 12560 hypotheses for harissa_oil (evidence > 0.31813310805000605)
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: 0.604
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.31813310805000605)
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: 1.09
INFO:root:Testing 13 out of 17728 hypotheses for tuna_fish_can (evidence > 0.31813310805000605)
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: 1.085
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.31813310805000605)
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: 0.874
DEBUG:root:evidences for each object: [0.51584694 0.16999185 0.94626165 0.17560741 2.09066554 0.60396313
 0.23157774 1.09010341 1.08541764 0.87439413]
DEBUG:root:mean evidence: 0.778, std: 0.555 -> th=1.6725324322000248
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[ 0.15002475,  0.03182344,  0.98816995],
       [-0.20750429,  0.97823411,  0.        ],
       [-0.96666155, -0.2050495 ,  0.15336283]]), 'pose_fully_defined': False}}, {'patch': array([-0.00446497,  0.009531  ,  0.00149793])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.41813310805000614)
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: 0.541
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 41 out of 14880 hypotheses for montys_heart (evidence > 0.41813310805000614)
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: 1.203
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 142 out of 14864 hypotheses for hot_sauce (evidence > 0.41813310805000614)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.527
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 0.41813310805000614)
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: 0.692
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 103 out of 16976 hypotheses for mustard_bottle (evidence > 0.41813310805000614)
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: 1.569
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 0.41813310805000614)
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: 1.267
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.41813310805000614)
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: 1.174
DEBUG:root:evidences for each object: [0.54067102 0.16999185 1.2033557  0.17560741 2.52658598 0.69171899
 0.23157774 1.569293   1.26661322 1.17413981]
DEBUG:root:mean evidence: 0.955, std: 0.71 -> th=2.021268787926835
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[ 0.09985153,  0.0391209 ,  0.99423298],
       [-0.36479201,  0.93108904,  0.        ],
       [-0.92571943, -0.36268824,  0.10724165]]), 'pose_fully_defined': False}}, {'patch': array([-0.00333496,  0.00821351,  0.00100119])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.5053171969817085)
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: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 0.5053171969817085)
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: 1.583
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 0.5053171969817085)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.027
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 0.5053171969817085)
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: 0.83
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 0.5053171969817085)
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: 2.052
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5053171969817085)
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: 1.544
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.5053171969817085)
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: 1.494
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.58336318 0.17560741 3.02658598 0.8304753
 0.23157774 2.05223626 1.54409389 1.49435694]
DEBUG:root:mean evidence: 1.139, std: 0.917 -> th=2.421268787926835
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.03
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.58336318 0.17560741 3.02658598 0.8304753
 0.23157774 2.05223626 1.54409389 1.49435694]
DEBUG:root:mean evidence: 1.139, std: 0.917 -> th=2.421268787926835
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.58336318 0.17560741 3.02658598 0.8304753
 0.23157774 2.05223626 1.54409389 1.49435694]
DEBUG:root:mean evidence: 1.139, std: 0.917 -> th=2.572598087172262
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: {'hot_sauce'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[ 0.01753301,  0.03205665,  0.99933226],
       [-0.87734782,  0.47985499,  0.        ],
       [-0.47953457, -0.87676198,  0.03653813]]), 'pose_fully_defined': False}}, {'patch': array([-0.00387754,  0.01612066,  0.00104094])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 0.6053171969817086)
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: 1.657
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 0.6053171969817086)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.361
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 0.6053171969817086)
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: 1.026
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 0.6053171969817086)
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: 2.467
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6053171969817086)
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: 1.911
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.6053171969817086)
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: 1.856
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.6573221  0.17560741 3.36069121 1.02582033
 0.23157774 2.46708668 1.91058359 1.85638471]
DEBUG:root:mean evidence: 1.313, std: 1.059 -> th=2.6885529670721118
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[ 0.01526952,  0.03020697,  0.99942703],
       [-0.89245638,  0.45113369,  0.        ],
       [-0.4508752 , -0.89194503,  0.033847  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00140402,  0.00824981,  0.00102234])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.6721382417680277)
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: 2.036
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 139 out of 14864 hypotheses for hot_sauce (evidence > 0.6721382417680277)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.763
INFO:root:Testing 20 out of 12560 hypotheses for harissa_oil (evidence > 0.6721382417680277)
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: 1.236
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 0.6721382417680277)
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: 2.826
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6721382417680277)
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: 2.227
INFO:root:Testing 356 out of 19024 hypotheses for potted_meat_can (evidence > 0.6721382417680277)
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: 2.244
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.03603052 0.17560741 3.76287336 1.23590506
 0.23157774 2.82629306 2.22708023 2.24382451]
DEBUG:root:mean evidence: 1.519, std: 1.222 -> th=3.0102986893097357
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[-0.04668975,  0.0278463 ,  0.99852123],
       [-0.51222784, -0.8588496 ,  0.        ],
       [ 0.85757956, -0.51147037,  0.05436312]]), 'pose_fully_defined': False}}, {'patch': array([-0.0028238 ,  0.01088899,  0.000958  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.7525746723274338)
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: 2.22
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 136 out of 14864 hypotheses for hot_sauce (evidence > 0.7525746723274338)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.136
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 0.7525746723274338)
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: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 0.7525746723274338)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.167
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7525746723274338)
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: 2.514
INFO:root:Testing 120 out of 19024 hypotheses for potted_meat_can (evidence > 0.7525746723274338)
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: 2.673
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.22012175 0.17560741 4.13570608 0.72679572
 0.23157774 3.16742158 2.51446994 2.67296049]
DEBUG:root:mean evidence: 1.629, std: 1.404 -> th=3.308564860237051
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[-0.07676954,  0.04192422,  0.99616705],
       [-0.47929194, -0.87765553,  0.        ],
       [ 0.87429153, -0.47745484,  0.08747115]]), 'pose_fully_defined': False}}, {'patch': array([-0.00235524,  0.00868611,  0.00122634])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.8271412150592625)
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: 2.529
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 134 out of 14864 hypotheses for hot_sauce (evidence > 0.8271412150592625)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.605
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 0.8271412150592625)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.091
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8271412150592625)
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: 1.514
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 0.8271412150592625)
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: 3.117
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.5292448  0.17560741 4.60545661 0.72679572
 0.23157774 3.09117156 1.51446994 3.11651689]
DEBUG:root:mean evidence: 1.644, std: 1.512 -> th=3.6843652859394753
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[-0.10603424,  0.05819375,  0.99265816],
       [-0.48112457, -0.87665224,  0.        ],
       [ 0.870216  , -0.47759223,  0.1209536 ]]), 'pose_fully_defined': False}}, {'patch': array([-2.47716313e-04, -8.32962440e-05, -4.78300645e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.9210913214848686)
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: 2.839
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 131 out of 14864 hypotheses for hot_sauce (evidence > 0.9210913214848686)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.061
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 0.9210913214848686)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.576
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9210913214848686)
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: 0.811
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 0.9210913214848686)
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: 3.572
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.83948506 0.17560741 5.0614599  0.72679572
 0.23157774 3.57569623 0.81066698 3.57217537]
DEBUG:root:mean evidence: 1.744, std: 1.737 -> th=4.049167922966909
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:54625 - "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([[-0.10438585,  0.05598142,  0.99296006],
       [-0.47261781, -0.8812675 ,  0.        ],
       [ 0.87506343, -0.46929061,  0.11844967]]), 'pose_fully_defined': False}}, {'patch': array([-2.08277606e-03,  5.10563805e-03, -3.26447356e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.0122919807417272)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.149
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 1.0122919807417272)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.519
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 1.0122919807417272)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.046
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 58 out of 19024 hypotheses for potted_meat_can (evidence > 1.0122919807417272)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.007
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.14910886 0.17560741 5.51884575 0.72679572
 0.23157774 4.04608499 0.81066698 4.00658172]
DEBUG:root:mean evidence: 1.911, std: 1.94 -> th=4.41507659703806
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.52
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.14910886 0.17560741 5.51884575 0.72679572
 0.23157774 4.04608499 0.81066698 4.00658172]
DEBUG:root:mean evidence: 1.911, std: 1.94 -> th=4.41507659703806
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.14910886 0.17560741 5.51884575 0.72679572
 0.23157774 4.04608499 0.81066698 4.00658172]
DEBUG:root:mean evidence: 1.911, std: 1.94 -> th=4.691018884352938
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: {'hot_sauce'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:54627 - "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([[-0.33830624,  0.03017333,  0.94055221],
       [-0.08883676, -0.9960462 ,  0.        ],
       [ 0.93683345, -0.08355561,  0.33964915]]), 'pose_fully_defined': False}}, {'patch': array([-0.00470388, -0.01354184, -0.00171824])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.1037691492595147)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.411
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 107 out of 14864 hypotheses for hot_sauce (evidence > 1.1037691492595147)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.952
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.1037691492595147)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.527
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 53 out of 19024 hypotheses for potted_meat_can (evidence > 1.1037691492595147)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.451
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.41080864 0.17560741 5.95186084 0.72679572
 0.23157774 4.52664179 0.81066698 4.45089269]
DEBUG:root:mean evidence: 2.073, std: 2.139 -> th=4.761488672969196
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:54627 - "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([[-0.18760866,  0.03275863,  0.98169744],
       [-0.172009  , -0.98509538,  0.        ],
       [ 0.96706561, -0.16886079,  0.19044721]]), 'pose_fully_defined': False}}, {'patch': array([ 7.06530734e-03, -1.64760202e-02, -6.37424896e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.1903721682422992)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.744
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 104 out of 14864 hypotheses for hot_sauce (evidence > 1.1903721682422992)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.43
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 1.1903721682422992)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.991
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 1.1903721682422992)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.87
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.74374255 0.17560741 6.42995358 0.72679572
 0.23157774 4.99128273 0.81066698 4.86985782]
DEBUG:root:mean evidence: 2.243, std: 2.347 -> th=5.143962861997599
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:54627 - "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([[-0.09602332,  0.05550123,  0.99383054],
       [-0.50042017, -0.86578268,  0.        ],
       [ 0.86044127, -0.49733285,  0.11090926]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00341181, -0.01730183, -0.00221536])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.2859907154993993)
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: 4.035
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 102 out of 14864 hypotheses for hot_sauce (evidence > 1.2859907154993993)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.88
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 1.2859907154993993)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.48
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 45 out of 19024 hypotheses for potted_meat_can (evidence > 1.2859907154993993)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.264
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.03502692 0.17560741 6.87955265 0.72679572
 0.23157774 5.47995137 0.81066698 5.26446628]
DEBUG:root:mean evidence: 2.405, std: 2.547 -> th=5.503642123379074
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:54629 - "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([[-0.90485717, -0.04006798,  0.4238255 ],
       [ 0.04423765, -0.99902104,  0.        ],
       [ 0.42341059,  0.01874904,  0.90574386]]), 'pose_fully_defined': False}}, {'patch': array([-0.04495074,  0.01269608, -0.00952005])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 1.3759105308447683)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.035
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 102 out of 14864 hypotheses for hot_sauce (evidence > 1.3759105308447683)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.88
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 1.3759105308447683)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.48
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 1.3759105308447683)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.317
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.03502692 0.17560741 5.87955265 0.72679572
 0.23157774 4.47995137 0.81066698 5.3170547 ]
DEBUG:root:mean evidence: 2.11, std: 2.213 -> th=4.703642123379074
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:54630 - "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([[-0.89842771, -0.049042  ,  0.4363743 ],
       [ 0.05450533, -0.99851348,  0.        ],
       [ 0.43572562,  0.02378472,  0.89976523]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0106842 , -0.00840607, -0.00761356])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 57 out of 14880 hypotheses for montys_heart (evidence > 1.1759105308447682)
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: 2.035
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 1.1759105308447682)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.181
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 1.1759105308447682)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.722
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 1.1759105308447682)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.377
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.03502692 0.17560741 6.1808194  0.72679572
 0.23157774 3.72171759 0.81066698 5.37692196]
DEBUG:root:mean evidence: 1.971, std: 2.183 -> th=4.944655521124341
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:54630 - "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([[-0.91159393, -0.0649094 ,  0.40593507],
       [ 0.07102447, -0.99747457,  0.        ],
       [ 0.40490991,  0.02883132,  0.91390192]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00076237, -0.00586084, -0.00046826])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 1.2361638802810848)
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: 2.179
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 1.2361638802810848)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.569
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 1.2361638802810848)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.049
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 1.2361638802810848)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.422
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.17889702 0.17560741 6.56925128 0.72679572
 0.23157774 4.04881542 0.81066698 5.42238067]
DEBUG:root:mean evidence: 2.061, std: 2.293 -> th=5.255401022056418
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.57
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.17889702 0.17560741 6.56925128 0.72679572
 0.23157774 4.04881542 0.81066698 5.42238067]
DEBUG:root:mean evidence: 2.061, std: 2.293 -> th=5.255401022056418
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.17889702 0.17560741 6.56925128 0.72679572
 0.23157774 4.04881542 0.81066698 5.42238067]
DEBUG:root:mean evidence: 2.061, std: 2.293 -> th=5.583863585934944
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:54630 - "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([[-0.73191318, -0.04532675,  0.67988865],
       [ 0.06181071, -0.99808789,  0.        ],
       [ 0.67858863,  0.0420244 ,  0.73331536]]), 'pose_fully_defined': False}}, {'patch': array([-0.01026978, -0.00426138,  0.00148165])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 1.3138502555141045)
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: 2.562
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 1.3138502555141045)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.569
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 1.3138502555141045)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.049
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 1.3138502555141045)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.622
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.56200837 0.17560741 5.56925128 0.72679572
 0.23157774 3.04881542 0.81066698 5.62196945]
DEBUG:root:mean evidence: 1.919, std: 2.074 -> th=4.497575558145485
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:54632 - "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([[-0.99846308, -0.04595734,  0.0309742 ],
       [ 0.0459794 , -0.99894239,  0.        ],
       [ 0.03094144,  0.00142418,  0.99952018]]), 'pose_fully_defined': False}}, {'patch': array([-0.0130702 ,  0.01737014, -0.02556734])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 1.1243938895363712)
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: 1.562
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 84 out of 14864 hypotheses for hot_sauce (evidence > 1.1243938895363712)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.569
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 1.1243938895363712)
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: 2.049
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 1.1243938895363712)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.001
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.56200837 0.17560741 4.56925128 0.72679572
 0.23157774 2.04881542 0.81066698 6.000575  ]
DEBUG:root:mean evidence: 1.657, std: 1.935 -> th=4.800460002053374
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:54632 - "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([[-0.47531906,  0.12619442, -0.87071624],
       [-0.25660446, -0.9665165 ,  0.        ],
       [-0.84156161,  0.22342967,  0.49178576]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02965401, -0.0118856 ,  0.00133675])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 1.2001150005133434)
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: 1.708
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 70 out of 14864 hypotheses for hot_sauce (evidence > 1.2001150005133434)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.925
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 1.2001150005133434)
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: 2.47
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 1.2001150005133434)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.001
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.70828999 0.17560741 4.92470936 0.72679572
 0.23157774 2.47023513 0.81066698 5.000575  ]
DEBUG:root:mean evidence: 1.65, std: 1.801 -> th=4.000460002053374
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:54632 - "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([[-0.9810313 , -0.01792   , -0.19301931],
       [ 0.01826344, -0.99983321,  0.        ],
       [-0.19298711, -0.0035252 ,  0.98119496]]), 'pose_fully_defined': False}}, {'patch': array([-0.02337768, -0.0180319 , -0.00608531])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 304 out of 14880 hypotheses for montys_heart (evidence > 1.0001150005133432)
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: 1.5
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 70 out of 14864 hypotheses for hot_sauce (evidence > 1.0001150005133432)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.925
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 1.0001150005133432)
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: 1.47
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 1.0001150005133432)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.45
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.49975436 0.17560741 3.92470936 0.72679572
 0.23157774 1.47023513 0.81066698 5.44975517]
DEBUG:root:mean evidence: 1.474, std: 1.708 -> th=4.359804137895684
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:54632 - "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([[-0.86576465,  0.04890263, -0.49805633],
       [-0.056395  , -0.99840854,  0.        ],
       [-0.49726369,  0.02808789,  0.86714468]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00278471, -0.01579471, -0.00296829])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 25 out of 14880 hypotheses for montys_heart (evidence > 1.0899510344739207)
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: 1.917
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 58 out of 14864 hypotheses for hot_sauce (evidence > 1.0899510344739207)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.925
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 1.0899510344739207)
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: 0.998
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 1.0899510344739207)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.772
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.91655399 0.17560741 2.92470936 0.72679572
 0.23157774 0.99785191 0.81066698 5.77238167]
DEBUG:root:mean evidence: 1.4, std: 1.683 -> th=4.617905333039667
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.64139444, -0.10544963,  0.75992996],
       [ 0.16222896,  0.98675314, -0.        ],
       [-0.74986328,  0.12328265,  0.65000496]]), 'pose_fully_defined': False}}, {'patch': array([0.05206141, 0.00908522, 0.02338191])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 1.1544763332599164)
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: 2.091
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 1.1544763332599164)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.558
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.998
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 1.1544763332599164)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.772
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.09106315 0.17560741 2.55757099 0.72679572
 0.23157774 0.99785191 0.81066698 4.77238167]
DEBUG:root:mean evidence: 1.281, std: 1.402 -> th=3.8179053330396675
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.77
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.09106315 0.17560741 2.55757099 0.72679572
 0.23157774 0.99785191 0.81066698 4.77238167]
DEBUG:root:mean evidence: 1.281, std: 1.402 -> th=3.8179053330396675
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.09106315 0.17560741 2.55757099 0.72679572
 0.23157774 0.99785191 0.81066698 4.77238167]
DEBUG:root:mean evidence: 1.281, std: 1.402 -> th=4.056524416354647
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[-0.38694635,  0.07167967, -0.919312  ],
       [-0.18214563, -0.98327156,  0.        ],
       [-0.90393335,  0.16744866,  0.39352948]]), 'pose_fully_defined': False}}, {'patch': array([-0.00312582,  0.0084045 , -0.00054854])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 216 out of 14880 hypotheses for montys_heart (evidence > 0.9544763332599167)
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: 1.775
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 40 out of 14864 hypotheses for hot_sauce (evidence > 0.9544763332599167)
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: 1.558
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.9544763332599167)
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: 0.95
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.811
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 0.9544763332599167)
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: 3.772
DEBUG:root:evidences for each object: [0.27781019 0.16999185 1.77454936 0.17560741 1.55757099 0.72679572
 0.23157774 0.94952355 0.81066698 3.77238167]
DEBUG:root:mean evidence: 1.045, std: 1.057 -> th=3.0179053330396677
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.94407514, -0.05495431, -0.32511869],
       [ 0.05811131,  0.99831011, -0.        ],
       [ 0.32456927, -0.01889307,  0.94567322]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02283911,  0.01033761, -0.01704573])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 606 out of 14880 hypotheses for montys_heart (evidence > 0.7544763332599169)
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: 2.05
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 0.7544763332599169)
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: 1.425
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 0.7544763332599169)
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: 1.365
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7544763332599169)
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: 1.079
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 0.7544763332599169)
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: 3.968
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.05032885 0.17560741 1.42524137 0.72679572
 0.23157774 1.36502855 1.07885683 3.96815817]
DEBUG:root:mean evidence: 1.147, std: 1.121 -> th=3.1745265333994235
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:54634 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.92492349, -0.05827298, -0.37566047],
       [ 0.06287836,  0.9980212 , -0.        ],
       [ 0.37491711, -0.02362091,  0.92675736]]), 'pose_fully_defined': False}}, {'patch': array([-0.00055988,  0.01046932, -0.00244233])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 449 out of 14880 hypotheses for montys_heart (evidence > 0.7936316333498556)
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: 2.377
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 0.7936316333498556)
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: 1.629
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 0.7936316333498556)
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: 1.817
INFO:root:Testing 328 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7936316333498556)
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: 1.327
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 0.7936316333498556)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.128
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.37650704 0.17560741 1.62947361 0.72679572
 0.23157774 1.81745964 1.32700105 4.12755358]
DEBUG:root:mean evidence: 1.286, std: 1.208 -> th=3.3020428639203296
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.93996861, -0.04786212, -0.33788789],
       [ 0.05085297,  0.99870615, -0.        ],
       [ 0.33745072, -0.0171826 ,  0.94118636]]), 'pose_fully_defined': False}}, {'patch': array([-0.00435206,  0.01730336,  0.00694009])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 400 out of 14880 hypotheses for montys_heart (evidence > 0.8255107159800823)
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: 2.38
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.8255107159800823)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.031
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 0.8255107159800823)
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: 2.129
INFO:root:Testing 194 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8255107159800823)
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: 1.732
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 0.8255107159800823)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.322
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.3801947  0.17560741 2.03133092 0.72679572
 0.23157774 2.12907173 1.73184204 4.32189409]
DEBUG:root:mean evidence: 1.418, std: 1.289 -> th=3.4575152746754725
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.92446382, -0.05828137, -0.37678897],
       [ 0.06291852,  0.99801867, -0.        ],
       [ 0.37604242, -0.023707  ,  0.92629913]]), 'pose_fully_defined': False}}, {'patch': array([-0.00060978,  0.01193669, -0.00119884])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 366 out of 14880 hypotheses for montys_heart (evidence > 0.8643788186688681)
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: 2.798
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 0.8643788186688681)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.428
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 193 out of 16976 hypotheses for mustard_bottle (evidence > 0.8643788186688681)
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: 2.39
INFO:root:Testing 154 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8643788186688681)
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: 2.127
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 0.8643788186688681)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.488
DEBUG:root:evidences for each object: [0.27781019 0.16999185 2.7981809  0.17560741 2.42844697 0.72679572
 0.23157774 2.38978107 2.12666006 4.48784696]
DEBUG:root:mean evidence: 1.581, std: 1.408 -> th=3.5902775653015837
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.94105272, -0.06663331, -0.33163199],
       [ 0.07063036,  0.99750256, -0.        ],
       [ 0.33080376, -0.02342329,  0.94340883]]), 'pose_fully_defined': False}}, {'patch': array([-0.00055943,  0.00808841,  0.00309158])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 358 out of 14880 hypotheses for montys_heart (evidence > 0.8975693913253959)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.13
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 3 out of 14864 hypotheses for hot_sauce (evidence > 0.8975693913253959)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.815
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 153 out of 16976 hypotheses for mustard_bottle (evidence > 0.8975693913253959)
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: 2.616
INFO:root:Testing 116 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8975693913253959)
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: 2.457
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 0.8975693913253959)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.699
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.13034948 0.17560741 2.81534959 0.72679572
 0.23157774 2.61634871 2.45694108 4.69883743]
DEBUG:root:mean evidence: 1.73, std: 1.532 -> th=3.759069941494379
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.7
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.13034948 0.17560741 2.81534959 0.72679572
 0.23157774 2.61634871 2.45694108 4.69883743]
DEBUG:root:mean evidence: 1.73, std: 1.532 -> th=3.759069941494379
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.13034948 0.17560741 2.81534959 0.72679572
 0.23157774 2.61634871 2.45694108 4.69883743]
DEBUG:root:mean evidence: 1.73, std: 1.532 -> th=3.994011812837778
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:54634 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.95069283, -0.06942896, -0.30226273],
       [ 0.07283588,  0.99734394, -0.        ],
       [ 0.30145991, -0.02201557,  0.95322465]]), 'pose_fully_defined': False}}, {'patch': array([-0.00027238,  0.01015917,  0.00120817])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 273 out of 14880 hypotheses for montys_heart (evidence > 0.9397674853735944)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.504
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 450 out of 14864 hypotheses for hot_sauce (evidence > 0.9397674853735944)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.137
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 134 out of 16976 hypotheses for mustard_bottle (evidence > 0.9397674853735944)
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: 2.86
INFO:root:Testing 89 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9397674853735944)
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 16 out of 19024 hypotheses for potted_meat_can (evidence > 0.9397674853735944)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.957
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.50430418 0.17560741 3.13717708 0.72679572
 0.23157774 2.85962992 2.35243228 4.95727433]
DEBUG:root:mean evidence: 1.839, std: 1.652 -> th=3.9658194654913936
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:54634 - "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([[ 0.893265  , -0.06388883, -0.44496726],
       [ 0.07134058,  0.99745201, -0.        ],
       [ 0.44383349, -0.03174422,  0.89554684]]), 'pose_fully_defined': False}}, {'patch': array([-0.00164371,  0.00841625, -0.00197174])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 188 out of 14880 hypotheses for montys_heart (evidence > 0.9914548663728482)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.871
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 0.9914548663728482)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.332
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 116 out of 16976 hypotheses for mustard_bottle (evidence > 0.9914548663728482)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.054
INFO:root:Testing 65 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9914548663728482)
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: 2.348
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.9914548663728482)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.936
DEBUG:root:evidences for each object: [0.27781019 0.16999185 3.8707588  0.17560741 3.3315942  0.72679572
 0.23157774 3.05387514 2.3484743  4.93600941]
DEBUG:root:mean evidence: 1.912, std: 1.716 -> th=3.948807531705364
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:54636 - "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([[ 0.97904443, -0.14679858, -0.14114597],
       [ 0.14828307,  0.98894496, -0.        ],
       [ 0.13958559, -0.02092956,  0.9899888 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01044408, -0.08546858, -0.00047653])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 110 out of 14880 hypotheses for montys_heart (evidence > 0.9872018829263407)
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: 4.274
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 24 out of 14864 hypotheses for hot_sauce (evidence > 0.9872018829263407)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 0.9872018829263407)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.531
INFO:root:Testing 41 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9872018829263407)
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: 2.225
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.9872018829263407)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.199
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.27410704 0.17560741 3.72191646 0.72679572
 0.23157774 3.53093907 2.22454522 5.19853811]
DEBUG:root:mean evidence: 2.053, std: 1.874 -> th=4.158830491105602
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:54636 - "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([[ 0.97606942, -0.15828927, -0.14910733],
       [ 0.16007879,  0.98710424, -0.        ],
       [ 0.14718448, -0.02386892,  0.98882102]]), 'pose_fully_defined': False}}, {'patch': array([-0.00171388,  0.00906349,  0.00127306])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 1.0397076227764002)
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: 4.774
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 1.0397076227764002)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.08
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 1.0397076227764002)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.012
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0397076227764002)
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: 2.378
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 1.0397076227764002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.449
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.77410704 0.17560741 4.08012969 0.72679572
 0.23157774 4.01190413 2.3781256  5.44918728]
DEBUG:root:mean evidence: 2.228, std: 2.049 -> th=4.359349822501972
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:54636 - "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([[ 0.96076015, -0.1541051 , -0.23063294],
       [ 0.15837476,  0.98737907, -0.        ],
       [ 0.22772214, -0.03652644,  0.97304083]]), 'pose_fully_defined': False}}, {'patch': array([-0.00127309,  0.00989692, -0.0004266 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 54 out of 14880 hypotheses for montys_heart (evidence > 1.089837455625493)
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: 5.194
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 112 out of 14864 hypotheses for hot_sauce (evidence > 1.089837455625493)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.432
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 1.089837455625493)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.386
INFO:root:Testing 16 out of 17728 hypotheses for tuna_fish_can (evidence > 1.089837455625493)
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: 2.722
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.089837455625493)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.664
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.19435801 0.17560741 4.43203657 0.72679572
 0.23157774 4.3859495  2.72247865 5.66429783]
DEBUG:root:mean evidence: 2.398, std: 2.204 -> th=4.531438261824713
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:54636 - "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([[ 0.96280115, -0.16705763, -0.21238102],
       [ 0.1709577 ,  0.98527837, -0.        ],
       [ 0.20925443, -0.03630817,  0.97718693]]), 'pose_fully_defined': False}}, {'patch': array([-0.00243925,  0.00415296, -0.00255804])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 53 out of 14880 hypotheses for montys_heart (evidence > 1.1328595654561777)
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: 5.641
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 1.1328595654561777)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.775
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 1.1328595654561777)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.764
INFO:root:Testing 25 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1328595654561777)
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: 3.176
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.1328595654561777)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.883
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.64087342 0.17560741 4.7747793  0.72679572
 0.23157774 4.76363709 3.17649256 5.88318819]
DEBUG:root:mean evidence: 2.582, std: 2.368 -> th=4.706550554245099
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.88
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.64087342 0.17560741 4.7747793  0.72679572
 0.23157774 4.76363709 3.17649256 5.88318819]
DEBUG:root:mean evidence: 2.582, std: 2.368 -> th=4.706550554245099
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.64087342 0.17560741 4.7747793  0.72679572
 0.23157774 4.76363709 3.17649256 5.88318819]
DEBUG:root:mean evidence: 2.582, std: 2.368 -> th=5.000709963885417
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.97131416, -0.17792437, -0.15777112],
       [ 0.18018101,  0.98363347, -0.        ],
       [ 0.15518895, -0.02842736,  0.98747571]]), 'pose_fully_defined': False}}, {'patch': array([-0.00105494,  0.01599868,  0.00098121])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 52 out of 14880 hypotheses for montys_heart (evidence > 1.1766376385612745)
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: 6.036
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 97 out of 14864 hypotheses for hot_sauce (evidence > 1.1766376385612745)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.075
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 1.1766376385612745)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.111
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1766376385612745)
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: 3.487
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.1766376385612745)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.122
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.03594892 0.17560741 5.0753705  0.72679572
 0.23157774 5.1106393  3.48699314 6.12206665]
DEBUG:root:mean evidence: 2.741, std: 2.52 -> th=4.897653319963483
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.12
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.03594892 0.17560741 5.0753705  0.72679572
 0.23157774 5.1106393  3.48699314 6.12206665]
DEBUG:root:mean evidence: 2.741, std: 2.52 -> th=4.897653319963483
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.03594892 0.17560741 5.0753705  0.72679572
 0.23157774 5.1106393  3.48699314 6.12206665]
DEBUG:root:mean evidence: 2.741, std: 2.52 -> th=5.203756652461201
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.95507698, -0.11004432, -0.27516941],
       [ 0.11446308,  0.9934275 , -0.        ],
       [ 0.27336086, -0.03149674,  0.96139575]]), 'pose_fully_defined': False}}, {'patch': array([-0.00046143,  0.00280649,  0.00041492])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 1.2244133299908704)
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: 6.463
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 1.2244133299908704)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.416
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 1.2244133299908704)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.41
INFO:root:Testing 49 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2244133299908704)
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: 3.775
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.2244133299908704)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.336
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.46311283 0.17560741 5.4161109  0.72679572
 0.23157774 5.4100822  3.77527927 6.33642031]
DEBUG:root:mean evidence: 2.898, std: 2.674 -> th=5.170490266014516
INFO:root:current most likely hypothesis: montys_heart with evidence 6.46
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.46311283 0.17560741 5.4161109  0.72679572
 0.23157774 5.4100822  3.77527927 6.33642031]
DEBUG:root:mean evidence: 2.898, std: 2.674 -> th=5.170490266014516
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.46311283 0.17560741 5.4161109  0.72679572
 0.23157774 5.4100822  3.77527927 6.33642031]
DEBUG:root:mean evidence: 2.898, std: 2.674 -> th=5.493645907640424
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.95498681, -0.10613473, -0.27701193],
       [ 0.11045731,  0.99388087, -0.        ],
       [ 0.27531686, -0.03059799,  0.96086648]]), 'pose_fully_defined': False}}, {'patch': array([-0.00151653,  0.01440176, -0.00023283])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 1.2926225665036286)
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: 6.891
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 85 out of 14864 hypotheses for hot_sauce (evidence > 1.2926225665036286)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.782
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 1.2926225665036286)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.67
INFO:root:Testing 46 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2926225665036286)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.027
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.2926225665036286)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.555
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.89115718 0.17560741 5.78243298 0.72679572
 0.23157774 5.66958656 4.0270862  6.55547705]
DEBUG:root:mean evidence: 3.051, std: 2.827 -> th=5.512925740345257
INFO:root:current most likely hypothesis: montys_heart with evidence 6.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.95192605, -0.10708057, -0.28700268],
       [ 0.11178332,  0.9937326 , -0.        ],
       [ 0.28520392, -0.03208211,  0.95792978]]), 'pose_fully_defined': False}}, {'patch': array([-0.00093648,  0.01293942,  0.00285352])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 1.378231435086314)
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: 7.269
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 1.378231435086314)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.149
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 76 out of 16976 hypotheses for mustard_bottle (evidence > 1.378231435086314)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.915
INFO:root:Testing 42 out of 17728 hypotheses for tuna_fish_can (evidence > 1.378231435086314)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.265
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.378231435086314)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.788
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.2694799  0.17560741 6.14923464 0.72679572
 0.23157774 5.91463391 4.26495859 6.78777344]
DEBUG:root:mean evidence: 3.197, std: 2.974 -> th=5.815583922355748
INFO:root:current most likely hypothesis: montys_heart with evidence 7.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.97845055, -0.12242683, -0.16627146],
       [ 0.12415506,  0.99226283, -0.        ],
       [ 0.16498499, -0.02064344,  0.98608002]]), 'pose_fully_defined': False}}, {'patch': array([-0.0003902 ,  0.00777715,  0.00363486])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 1.4538959805889364)
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: 7.623
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 27 out of 14864 hypotheses for hot_sauce (evidence > 1.4538959805889364)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.507
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 73 out of 16976 hypotheses for mustard_bottle (evidence > 1.4538959805889364)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.217
INFO:root:Testing 39 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4538959805889364)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.547
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.4538959805889364)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.119
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.62309536 0.17560741 6.50666017 0.72679572
 0.23157774 6.21732759 4.54716457 7.11853349]
DEBUG:root:mean evidence: 3.359, std: 3.135 -> th=6.098476287972932
INFO:root:current most likely hypothesis: montys_heart with evidence 7.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:54638 - "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([[ 0.95882507, -0.12041146, -0.25720724],
       [ 0.12460359,  0.9922066 , -0.        ],
       [ 0.25520272, -0.03204895,  0.96635627]]), 'pose_fully_defined': False}}, {'patch': array([-0.00072139,  0.00511821, -0.00046173])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 1.524619071993233)
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: 7.977
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 24 out of 14864 hypotheses for hot_sauce (evidence > 1.524619071993233)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 1.524619071993233)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.48
INFO:root:Testing 35 out of 17728 hypotheses for tuna_fish_can (evidence > 1.524619071993233)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.781
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.524619071993233)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.404
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.97708224 0.17560741 6.8280461  0.72679572
 0.23157774 6.48011473 4.78128732 7.40444648]
DEBUG:root:mean evidence: 3.505, std: 3.283 -> th=6.381665795478087
INFO:root:current most likely hypothesis: montys_heart with evidence 7.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.21064566,  0.20856879, -0.95505365],
       [-0.70359502,  0.71060119,  0.        ],
       [ 0.67866226,  0.67197099,  0.29643302]]), 'pose_fully_defined': False}}, {'patch': array([-0.0114722 , -0.08940818, -0.03576211])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 57 out of 14880 hypotheses for montys_heart (evidence > 1.5954164488695213)
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: 8.247
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 1.5954164488695213)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 67 out of 16976 hypotheses for mustard_bottle (evidence > 1.5954164488695213)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.082
INFO:root:Testing 34 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5954164488695213)
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: 3.781
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.5954164488695213)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.404
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.24735171 0.17560741 5.8280461  0.72679572
 0.23157774 6.08215944 3.78128732 6.40444648]
DEBUG:root:mean evidence: 3.193, std: 3.051 -> th=6.597881368886496
INFO:root:current most likely hypothesis: montys_heart with evidence 8.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.29624676,  0.20883793, -0.93200031],
       [-0.57617223,  0.81732831,  0.        ],
       [ 0.76175024,  0.53699269,  0.36245748]]), 'pose_fully_defined': False}}, {'patch': array([-0.00019854,  0.00899314,  0.00114205])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 55 out of 14880 hypotheses for montys_heart (evidence > 1.6494703422216235)
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: 8.549
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 1.6494703422216235)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 1.6494703422216235)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.433
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6494703422216235)
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: 3.425
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 1.6494703422216235)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.862
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.54935991 0.17560741 4.8280461  0.72679572
 0.23157774 6.43288221 3.42521771 5.86225032]
DEBUG:root:mean evidence: 3.068, std: 3.008 -> th=6.839487929468774
INFO:root:current most likely hypothesis: montys_heart with evidence 8.55
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.54935991 0.17560741 4.8280461  0.72679572
 0.23157774 6.43288221 3.42521771 5.86225032]
DEBUG:root:mean evidence: 3.068, std: 3.008 -> th=6.839487929468774
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.54935991 0.17560741 4.8280461  0.72679572
 0.23157774 6.43288221 3.42521771 5.86225032]
DEBUG:root:mean evidence: 3.068, std: 3.008 -> th=7.266955925060572
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: {'montys_heart'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.36664228,  0.19817415, -0.90901069],
       [-0.47549686,  0.87971742,  0.        ],
       [ 0.79967254,  0.43223173,  0.41677279]]), 'pose_fully_defined': False}}, {'patch': array([0.00139171, 0.01089186, 0.00320098])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 1.7098719823671935)
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: 8.884
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 1.7098719823671935)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 1.7098719823671935)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.736
INFO:root:Testing 11 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7098719823671935)
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: 3.186
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 1.7098719823671935)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.304
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.88371643 0.17560741 3.8280461  0.72679572
 0.23157774 6.7364814  3.18580121 6.30404943]
DEBUG:root:mean evidence: 3.052, std: 3.105 -> th=7.10697314434501
INFO:root:current most likely hypothesis: montys_heart with evidence 8.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.34770961,  0.23444653, -0.90781763],
       [-0.55905102,  0.82913326,  0.        ],
       [ 0.75270179,  0.50751637,  0.41936517]]), 'pose_fully_defined': False}}, {'patch': array([-0.00143824,  0.01348148, -0.00262926])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 1.7767432860862522)
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: 9.135
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 1.7767432860862522)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 1.7767432860862522)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.876
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7767432860862522)
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: 3.196
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 1.7767432860862522)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.75
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.13470817 0.17560741 2.8280461  0.72679572
 0.23157774 6.8763479  3.19638034 6.74988566]
DEBUG:root:mean evidence: 3.037, std: 3.209 -> th=7.307766539973258
INFO:root:current most likely hypothesis: montys_heart with evidence 9.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.41241133,  0.22768943, -0.88208527],
       [-0.48332491,  0.87544105,  0.        ],
       [ 0.77221365,  0.42633379,  0.47108978]]), 'pose_fully_defined': False}}, {'patch': array([6.04213345e-05, 1.33962294e-02, 2.66030212e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 1.8269416349933145)
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: 9.502
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 1.8269416349933145)
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: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 1.8269416349933145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.876
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8269416349933145)
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: 3.589
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.8269416349933145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.165
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.50237832 0.17560741 1.8280461  0.72679572
 0.23157774 5.8763479  3.5887647  7.16527569]
DEBUG:root:mean evidence: 2.954, std: 3.253 -> th=7.601902653412954
INFO:root:current most likely hypothesis: montys_heart with evidence 9.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.46440853,  0.24460509, -0.85117159],
       [-0.46601429,  0.88477719,  0.        ],
       [ 0.75309721,  0.39665812,  0.52488754]]), 'pose_fully_defined': False}}, {'patch': array([-0.0002886 ,  0.01869437,  0.00305959])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 1.9004756633532383)
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: 9.978
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 1.9004756633532383)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.922
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9004756633532383)
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: 3.92
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.9004756633532383)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.545
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.97777606 0.17560741 1.8280461  0.72679572
 0.23157774 5.92233018 3.92004915 7.54497841]
DEBUG:root:mean evidence: 3.077, std: 3.41 -> th=7.9822208506167955
INFO:root:current most likely hypothesis: montys_heart with evidence 9.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.45680116,  0.25728288, -0.85155048],
       [-0.49074255,  0.87130462,  0.        ],
       [ 0.74195987,  0.41789205,  0.52427262]]), 'pose_fully_defined': False}}, {'patch': array([-0.00162037,  0.00523298,  0.00088319])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 1.9955552126541987)
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: 10.455
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 1.9955552126541987)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.196
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9955552126541987)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.196
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.9955552126541987)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.933
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.45479053  0.17560741  1.8280461   0.72679572
  0.23157774  6.19624377  4.19613931  7.93283199]
DEBUG:root:mean evidence: 3.219, std: 3.587 -> th=8.36383242099382
INFO:root:current most likely hypothesis: montys_heart with evidence 10.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.527968  ,  0.24965248, -0.81174099],
       [-0.42747424,  0.90402753,  0.        ],
       [ 0.7338362 ,  0.34699836,  0.58401761]]), 'pose_fully_defined': False}}, {'patch': array([0.00063839, 0.0115776 , 0.00170748])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 2.090958105248454)
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: 10.89
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 2.090958105248454)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.196
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 2.090958105248454)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.41
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 2.090958105248454)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.282
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.89022221  0.17560741  1.8280461   0.72679572
  0.23157774  5.19624377  4.41049897  8.28248996]
DEBUG:root:mean evidence: 3.219, std: 3.662 -> th=8.712177767788415
INFO:root:current most likely hypothesis: montys_heart with evidence 10.89
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.89022221  0.17560741  1.8280461   0.72679572
  0.23157774  5.19624377  4.41049897  8.28248996]
DEBUG:root:mean evidence: 3.219, std: 3.662 -> th=8.712177767788415
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.89022221  0.17560741  1.8280461   0.72679572
  0.23157774  5.19624377  4.41049897  8.28248996]
DEBUG:root:mean evidence: 3.219, std: 3.662 -> th=9.256688878275192
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: {'montys_heart'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.58553563,  0.23707254, -0.77520619],
       [-0.375288  ,  0.92690826,  0.        ],
       [ 0.71854502,  0.29092558,  0.63170829]]), 'pose_fully_defined': False}}, {'patch': array([0.00100984, 0.00302721, 0.00422117])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 2.178044441947103)
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: 11.301
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 2.178044441947103)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.196
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 2.178044441947103)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.559
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 2.178044441947103)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.601
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.30063793  0.17560741  1.8280461   0.72679572
  0.23157774  4.19624377  4.55923315  8.6010753 ]
DEBUG:root:mean evidence: 3.207, std: 3.759 -> th=9.040510346285965
INFO:root:current most likely hypothesis: montys_heart with evidence 11.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.56631472,  0.20322508, -0.79874101],
       [-0.33776554,  0.94123028,  0.        ],
       [ 0.75179923,  0.26978719,  0.60167499]]), 'pose_fully_defined': False}}, {'patch': array([-0.00283787, -0.01792296, -0.00253077])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 2.2601275865714907)
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: 11.339
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 2.2601275865714907)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.47
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2601275865714907)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.776
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 2.2601275865714907)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.924
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.33906751  0.17560741  1.8280461   0.72679572
  0.23157774  4.47008714  4.77575023  8.92441038]
DEBUG:root:mean evidence: 3.292, std: 3.83 -> th=9.071254007736137
INFO:root:current most likely hypothesis: montys_heart with evidence 11.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.50299298,  0.1643151 , -0.84852732],
       [-0.31052559,  0.95056502,  0.        ],
       [ 0.80658039,  0.26348944,  0.52915158]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00107608, -0.00661769, -0.0001014 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 2.267813501934034)
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: 11.798
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 2.267813501934034)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.837
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 2.267813501934034)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.502
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 2.267813501934034)
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: 9.271
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.79754986  0.17560741  1.8280461   0.72679572
  0.23157774  4.83728709  4.50223902  9.27113651]
DEBUG:root:mean evidence: 3.382, std: 3.981 -> th=9.4380398875636
INFO:root:current most likely hypothesis: montys_heart with evidence 11.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.47698224,  0.15142876, -0.86576976],
       [-0.30258971,  0.95312091,  0.        ],
       [ 0.82518326,  0.26197302,  0.50044253]]), 'pose_fully_defined': False}}, {'patch': array([-0.00159293, -0.0165139 , -0.00380947])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 2.3595099718908994)
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: 12.247
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 2.3595099718908994)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.236
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3595099718908994)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.251
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.3595099718908994)
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: 9.655
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.247369    0.17560741  1.8280461   0.72679572
  0.23157774  5.23570092  4.25127408  9.65512726]
DEBUG:root:mean evidence: 3.48, std: 4.143 -> th=9.797895197902186
INFO:root:current most likely hypothesis: montys_heart with evidence 12.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.57627303,  0.1009294 , -0.81100102],
       [-0.1725157 ,  0.98500677,  0.        ],
       [ 0.79884149,  0.13991041,  0.58504474]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00552323, -0.01966118,  0.00191066])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 2.4494737994755464)
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: 12.599
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 2.4494737994755464)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.612
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4494737994755464)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.479
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 2.4494737994755464)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.655
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.59921856  0.17560741  1.8280461   0.72679572
  0.23157774  5.6118134   4.4789722   8.65512726]
DEBUG:root:mean evidence: 3.475, std: 4.105 -> th=10.079374844026088
INFO:root:current most likely hypothesis: montys_heart with evidence 12.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.65008799,  0.06394642, -0.75716343],
       [-0.09789333,  0.99519691,  0.        ],
       [ 0.75352671,  0.07412125,  0.65322549]]), 'pose_fully_defined': False}}, {'patch': array([0.0033408 , 0.00419015, 0.0032575 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 2.519843711006521)
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: 13.065
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 2.519843711006521)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.957
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.519843711006521)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.618
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.519843711006521)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.655
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.06514514  0.17560741  1.8280461   0.72679572
  0.23157774  5.95675015  4.61789912  7.65512726]
DEBUG:root:mean evidence: 3.47, std: 4.12 -> th=10.45211610879883
INFO:root:current most likely hypothesis: montys_heart with evidence 13.07
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.06514514  0.17560741  1.8280461   0.72679572
  0.23157774  5.95675015  4.61789912  7.65512726]
DEBUG:root:mean evidence: 3.47, std: 4.12 -> th=10.45211610879883
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.06514514  0.17560741  1.8280461   0.72679572
  0.23157774  5.95675015  4.61789912  7.65512726]
DEBUG:root:mean evidence: 3.47, std: 4.12 -> th=11.105373365598757
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: {'montys_heart'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.76336528,  0.04446045, -0.64443519],
       [-0.05814416,  0.9983082 ,  0.        ],
       [ 0.64334494,  0.03747014,  0.76465893]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00391376, -0.00531009,  0.00328562])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 2.6130290271997065)
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: 13.514
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 2.6130290271997065)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.346
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6130290271997065)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.718
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.6130290271997065)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.655
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.51388723  0.17560741  1.8280461   0.72679572
  0.23157774  6.34602296  4.71802009  6.65512726]
DEBUG:root:mean evidence: 3.464, std: 4.165 -> th=10.811109783446232
INFO:root:current most likely hypothesis: montys_heart with evidence 13.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.76789291,  0.05132895, -0.63851845],
       [-0.06669506,  0.99777341,  0.        ],
       [ 0.63709673,  0.04258603,  0.76960651]]), 'pose_fully_defined': False}}, {'patch': array([-0.00154578,  0.0109853 ,  0.00015718])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 2.7027774458615568)
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: 13.971
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 2.7027774458615568)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.62
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7027774458615568)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.82
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.7027774458615568)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.655
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.97108664  0.17560741  1.8280461   0.72679572
  0.23157774  6.61998072  4.81966805  5.65512726]
DEBUG:root:mean evidence: 3.448, std: 4.236 -> th=11.176869310400459
INFO:root:current most likely hypothesis: montys_heart with evidence 13.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.73057569,  0.07141843, -0.67908657],
       [-0.0972926 ,  0.99525582,  0.        ],
       [ 0.67586486,  0.0660701 ,  0.73405819]]), 'pose_fully_defined': False}}, {'patch': array([-0.00062165,  0.01670859, -0.0003169 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 2.794217327600114)
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: 14.46
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 2.794217327600114)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.973
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.794217327600114)
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: 3.82
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.794217327600114)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.858
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.45969404  0.17560741  1.8280461   0.72679572
  0.23157774  6.97277357  3.81966805  5.85795498]
DEBUG:root:mean evidence: 3.452, std: 4.376 -> th=11.567755233152955
INFO:root:current most likely hypothesis: montys_heart with evidence 14.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.7167868 ,  0.08947733, -0.69152765],
       [-0.12386977,  0.99229848,  0.        ],
       [ 0.68620183,  0.08565937,  0.72234999]]), 'pose_fully_defined': False}}, {'patch': array([-0.00330953,  0.02118126,  0.00134274])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.891938808288238)
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: 14.796
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 2.891938808288238)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.973
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.891938808288238)
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: 3.926
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.891938808288238)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.081
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.79616885  0.17560741  1.8280461   0.72679572
  0.23157774  5.97277357  3.92600801  6.08114747]
DEBUG:root:mean evidence: 3.419, std: 4.407 -> th=11.836935078206897
INFO:root:current most likely hypothesis: montys_heart with evidence 14.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:54640 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.73200042,  0.10907139, -0.67251677],
       [-0.14737746,  0.98908032,  0.        ],
       [ 0.66517311,  0.09911382,  0.74008188]]), 'pose_fully_defined': False}}, {'patch': array([-0.00246114,  0.0151283 ,  0.00127733])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.959233769551723)
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: 15.06
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 2.959233769551723)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.973
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.959233769551723)
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: 3.969
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.959233769551723)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.294
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.06000433  0.17560741  1.8280461   0.72679572
  0.23157774  4.97277357  3.96926429  6.29371265]
DEBUG:root:mean evidence: 3.371, std: 4.442 -> th=12.048003466362276
INFO:root:current most likely hypothesis: montys_heart with evidence 15.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:54640 - "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([[ 0.75397005,  0.09498493, -0.6500054 ],
       [-0.12499175,  0.99215778,  0.        ],
       [ 0.64490792,  0.08124531,  0.75992959]]), 'pose_fully_defined': False}}, {'patch': array([-0.00140492,  0.00413176,  0.00101465])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.0120008665905686)
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: 15.312
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.0120008665905686)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.973
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0120008665905686)
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: 3.962
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.0120008665905686)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.49
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.31156157  0.17560741  1.8280461   0.72679572
  0.23157774  3.97277357  3.96190015  6.48992074]
DEBUG:root:mean evidence: 3.315, std: 4.497 -> th=12.249249258668533
INFO:root:current most likely hypothesis: montys_heart with evidence 15.31
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.31156157  0.17560741  1.8280461   0.72679572
  0.23157774  3.97277357  3.96190015  6.48992074]
DEBUG:root:mean evidence: 3.315, std: 4.497 -> th=12.249249258668533
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.31156157  0.17560741  1.8280461   0.72679572
  0.23157774  3.97277357  3.96190015  6.48992074]
DEBUG:root:mean evidence: 3.315, std: 4.497 -> th=13.014827337335316
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: {'montys_heart'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:54643 - "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([[-0.4113363 ,  0.17876618, -0.89378135],
       [-0.39858418, -0.91713175,  0.        ],
       [-0.81971525,  0.3562471 ,  0.44850296]]), 'pose_fully_defined': False}}, {'patch': array([-0.02216605, -0.0896213 , -0.01309272])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.062312314667132)
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: 14.411
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 3.062312314667132)
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: 2.973
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 3.062312314667132)
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: 2.962
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.062312314667132)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.32
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.41126234  0.17560741  1.8280461   0.72679572
  0.23157774  2.97277357  2.96190015  6.32016088]
DEBUG:root:mean evidence: 3.008, std: 4.229 -> th=11.529009870126696
INFO:root:current most likely hypothesis: montys_heart with evidence 14.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:54643 - "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([[-0.01402141,  0.13507044, -0.99073678],
       [-0.9946551 , -0.10325326,  0.        ],
       [-0.1022968 ,  0.98544139,  0.13579626]]), 'pose_fully_defined': False}}, {'patch': array([0.00791278, 0.00760471, 0.02645946])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.882252467531673)
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: 14.189
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 2.882252467531673)
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: 2.702
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.882252467531673)
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: 2.804
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 2.882252467531673)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.32
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.18871432  0.17560741  1.8280461   0.72679572
  0.23157774  2.70223009  2.80434943  5.32016088]
DEBUG:root:mean evidence: 2.843, std: 4.099 -> th=11.350971453117479
INFO:root:current most likely hypothesis: montys_heart with evidence 14.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.05510043,  0.1959438 , -0.97906587],
       [-0.96266216, -0.27070567,  0.        ],
       [-0.26503869,  0.94250966,  0.20354368]]), 'pose_fully_defined': False}}, {'patch': array([-0.00037581,  0.00615736, -0.03061667])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.8377428632793684)
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: 14.359
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.702
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.804
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.8377428632793684)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.32
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.35910638  0.17560741  1.8280461   0.72679572
  0.23157774  2.70223009  2.80434943  4.32016088]
DEBUG:root:mean evidence: 2.76, std: 4.098 -> th=11.487285102253422
INFO:root:current most likely hypothesis: montys_heart with evidence 14.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.09033262,  0.1866139 , -0.97827157],
       [-0.90009197, -0.43569994,  0.        ],
       [-0.42623287,  0.88053439,  0.20732759]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00394459, -0.03184318, -0.00265669])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 2.871821275563354)
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: 13.359
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.702
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.804
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 2.871821275563354)
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: 3.32
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.35910638  0.17560741  1.8280461   0.72679572
  0.23157774  2.70223009  2.80434943  3.32016088]
DEBUG:root:mean evidence: 2.56, std: 3.784 -> th=10.687285102253423
INFO:root:current most likely hypothesis: montys_heart with evidence 13.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.16381026,  0.17632178, -0.97060642],
       [-0.73262174, -0.68063601,  0.        ],
       [-0.66062968,  0.71108737,  0.24067233]]), 'pose_fully_defined': False}}, {'patch': array([-0.00398973,  0.01455459,  0.00033293])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 2.671821275563355)
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: 12.359
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 2.671821275563355)
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: 2.901
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 2.671821275563355)
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: 2.617
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 2.671821275563355)
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: 3.316
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.35910638  0.17560741  1.8280461   0.72679572
  0.23157774  2.90080566  2.61687717  3.31572138]
DEBUG:root:mean evidence: 2.46, std: 3.501 -> th=9.887285102253422
INFO:root:current most likely hypothesis: montys_heart with evidence 12.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:54644 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54644 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.01680543,  0.16203545, -0.98664182],
       [-0.99466466, -0.10316115,  0.        ],
       [-0.1017831 ,  0.98137775,  0.1629046 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00347699, 0.02402936, 0.00304802])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.4718212755633555)
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: 12.686
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 2.4718212755633555)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.179
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4718212755633555)
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: 2.464
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.4718212755633555)
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: 3.649
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.68597366  0.17560741  1.8280461   0.72679572
  0.23157774  3.17943968  2.46396741  3.64858067]
DEBUG:root:mean evidence: 2.539, std: 3.606 -> th=10.148778924088564
INFO:root:current most likely hypothesis: montys_heart with evidence 12.69
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.68597366  0.17560741  1.8280461   0.72679572
  0.23157774  3.17943968  2.46396741  3.64858067]
DEBUG:root:mean evidence: 2.539, std: 3.606 -> th=10.148778924088564
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.68597366  0.17560741  1.8280461   0.72679572
  0.23157774  3.17943968  2.46396741  3.64858067]
DEBUG:root:mean evidence: 2.539, std: 3.606 -> th=10.783077606844099
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: {'montys_heart'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:54644 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.06392433,  0.16829769, -0.98366131],
       [-0.93483668, -0.355078  ,  0.        ],
       [-0.34927649,  0.91956267,  0.18002897]]), 'pose_fully_defined': False}}, {'patch': array([-0.00567347,  0.0213883 ,  0.00083327])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 2.53719473102214)
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: 13.04
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 2.53719473102214)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.617
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.464
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 2.53719473102214)
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: 3.98
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.0404139   0.17560741  1.8280461   0.72679572
  0.23157774  3.61692883  2.46396741  3.98026347]
DEBUG:root:mean evidence: 2.651, std: 3.726 -> th=10.432331123422417
INFO:root:current most likely hypothesis: montys_heart with evidence 13.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:54644 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54644 - "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([[ 0.0465888 ,  0.15943393, -0.98610867],
       [-0.95985871,  0.28048397,  0.        ],
       [ 0.27658767,  0.94652499,  0.16610146]]), 'pose_fully_defined': False}}, {'patch': array([-0.00018079,  0.01806134,  0.00130521])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.6080827808556037)
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: 13.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 2.6080827808556037)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.963
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.464
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 2.6080827808556037)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.363
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.51964492  0.17560741  1.8280461   0.72679572
  0.23157774  3.96257994  2.46396741  4.36300718]
DEBUG:root:mean evidence: 2.772, std: 3.884 -> th=10.815715934903064
INFO:root:current most likely hypothesis: montys_heart with evidence 13.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 123 ---
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([[ 0.00964123,  0.15489191, -0.98788438],
       [-0.9980684 ,  0.06212463,  0.        ],
       [ 0.06137195,  0.98597618,  0.15519167]]), 'pose_fully_defined': False}}, {'patch': array([0.00264507, 0.01561235, 0.02480871])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.703928983725765)
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: 12.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 2.703928983725765)
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: 2.963
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.464
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 2.703928983725765)
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: 3.363
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.51964492  0.17560741  1.8280461   0.72679572
  0.23157774  2.96257994  2.46396741  3.36300718]
DEBUG:root:mean evidence: 2.472, std: 3.548 -> th=10.015715934903065
INFO:root:current most likely hypothesis: montys_heart with evidence 12.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:54644 - "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([[-0.92088514,  0.1451074 , -0.36182096],
       [-0.15565329, -0.98781175,  0.        ],
       [-0.35741099,  0.05631862,  0.9322476 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00103991, -0.02088762, -0.00778668])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 2.503928983725766)
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: 11.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 2.503928983725766)
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: 2.503
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.464
INFO:root:Testing 288 out of 19024 hypotheses for potted_meat_can (evidence > 2.503928983725766)
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: 2.913
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.51964492  0.17560741  1.8280461   0.72679572
  0.23157774  2.50330183  2.46396741  2.91271972]
DEBUG:root:mean evidence: 2.281, std: 3.249 -> th=9.215715934903065
INFO:root:current most likely hypothesis: montys_heart with evidence 11.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.45755996,  0.10120806, -0.88340014],
       [-0.21597068, -0.97639985,  0.        ],
       [-0.86255177,  0.19078853,  0.46861945]]), 'pose_fully_defined': False}}, {'patch': array([-0.00393605, -0.06028457, -0.02065692])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 2.3039289837257666)
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: 10.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 73 out of 16976 hypotheses for mustard_bottle (evidence > 2.3039289837257666)
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: 2.699
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3039289837257666)
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: 2.282
INFO:root:Testing 890 out of 19024 hypotheses for potted_meat_can (evidence > 2.3039289837257666)
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: 3.024
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.51964492  0.17560741  1.8280461   0.72679572
  0.23157774  2.69858969  2.28177306  3.02362816]
DEBUG:root:mean evidence: 2.193, std: 2.971 -> th=8.415715934903066
INFO:root:current most likely hypothesis: montys_heart with evidence 10.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.32515122,  0.11639922, -0.93847105],
       [-0.33703939, -0.94149055,  0.        ],
       [-0.88356162,  0.31630171,  0.34535792]]), 'pose_fully_defined': False}}, {'patch': array([0.00054437, 0.01242087, 0.00095549])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 2.1039289837257655)
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: 10.682
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1773 out of 16976 hypotheses for mustard_bottle (evidence > 2.1039289837257655)
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: 3.095
INFO:root:Testing 11 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1039289837257655)
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: 2.065
INFO:root:Testing 943 out of 19024 hypotheses for potted_meat_can (evidence > 2.1039289837257655)
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: 3.435
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.68183381  0.17560741  1.8280461   0.72679572
  0.23157774  3.09476655  2.06453534  3.43482081]
DEBUG:root:mean evidence: 2.269, std: 3.039 -> th=8.545467046698647
INFO:root:current most likely hypothesis: montys_heart with evidence 10.68
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.68183381  0.17560741  1.8280461   0.72679572
  0.23157774  3.09476655  2.06453534  3.43482081]
DEBUG:root:mean evidence: 2.269, std: 3.039 -> th=8.545467046698647
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.68183381  0.17560741  1.8280461   0.72679572
  0.23157774  3.09476655  2.06453534  3.43482081]
DEBUG:root:mean evidence: 2.269, std: 3.039 -> th=9.079558737117313
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: {'montys_heart'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.49455428,  0.08798136, -0.86468222],
       [-0.17515027, -0.98454171,  0.        ],
       [-0.85131572,  0.15144932,  0.50231927]]), 'pose_fully_defined': False}}, {'patch': array([-0.00714611,  0.01566615,  0.00109875])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 2.1363667616746618)
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: 11.02
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 573 out of 16976 hypotheses for mustard_bottle (evidence > 2.1363667616746618)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.557
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.065
INFO:root:Testing 236 out of 19024 hypotheses for potted_meat_can (evidence > 2.1363667616746618)
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: 3.853
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.01999582  0.17560741  1.8280461   0.72679572
  0.23157774  3.55716711  2.06453534  3.85267628]
DEBUG:root:mean evidence: 2.39, std: 3.164 -> th=8.81599665450518
INFO:root:current most likely hypothesis: montys_heart with evidence 11.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.45683813,  0.13209584, -0.87968722],
       [-0.27777328, -0.96064666,  0.        ],
       [-0.84506859,  0.2443536 ,  0.47555272]]), 'pose_fully_defined': False}}, {'patch': array([-0.00033848,  0.00254323,  0.00081418])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 2.2039991636262943)
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: 11.331
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 549 out of 16976 hypotheses for mustard_bottle (evidence > 2.2039991636262943)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.043
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.065
INFO:root:Testing 204 out of 19024 hypotheses for potted_meat_can (evidence > 2.2039991636262943)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.289
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.33094972  0.17560741  1.8280461   0.72679572
  0.23157774  4.04254777  2.06453534  4.28926302]
DEBUG:root:mean evidence: 2.514, std: 3.29 -> th=9.064759777968336
INFO:root:current most likely hypothesis: montys_heart with evidence 11.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.23329005,  0.17434953, -0.95664936],
       [-0.59864109, -0.80101738,  0.        ],
       [-0.76629277,  0.57268961,  0.29124218]]), 'pose_fully_defined': False}}, {'patch': array([0.01210687, 0.00783207, 0.01811468])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 2.2661899444920834)
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: 10.331
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 531 out of 16976 hypotheses for mustard_bottle (evidence > 2.2661899444920834)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.043
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.065
INFO:root:Testing 194 out of 19024 hypotheses for potted_meat_can (evidence > 2.2661899444920834)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.29
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.33094972  0.17560741  1.8280461   0.72679572
  0.23157774  3.04254777  2.06453534  4.28972611]
DEBUG:root:mean evidence: 2.314, std: 2.986 -> th=8.264759777968335
INFO:root:current most likely hypothesis: montys_heart with evidence 10.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.38298567,  0.14654799, -0.91205573],
       [-0.35737637, -0.93396046,  0.        ],
       [-0.85182399,  0.32594716,  0.41006626]]), 'pose_fully_defined': False}}, {'patch': array([ 3.80244837e-05, -5.42269616e-03,  4.78240946e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 2.066189944492084)
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: 9.331
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1244 out of 16976 hypotheses for mustard_bottle (evidence > 2.066189944492084)
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: 2.508
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.065
INFO:root:Testing 3005 out of 19024 hypotheses for potted_meat_can (evidence > 2.066189944492084)
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: 4.38
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.33094972 0.17560741 1.8280461  0.72679572
 0.23157774 2.50773621 2.06453534 4.37989407]
DEBUG:root:mean evidence: 2.169, std: 2.717 -> th=7.464759777968335
INFO:root:current most likely hypothesis: montys_heart with evidence 9.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:54647 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.222161  ,  0.18425696, -0.95744131],
       [-0.638389  , -0.7697139 ,  0.        ],
       [-0.73695588,  0.61122   ,  0.28862803]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00495892, -0.00169089, -0.00317326])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 1.866189944492083)
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: 8.331
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.828
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1402 out of 16976 hypotheses for mustard_bottle (evidence > 1.866189944492083)
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: 2.967
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 1.866189944492083)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.097
INFO:root:Testing 2570 out of 19024 hypotheses for potted_meat_can (evidence > 1.866189944492083)
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: 4.427
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.33094972 0.17560741 1.8280461  0.72679572
 0.23157774 2.96725599 2.09677542 4.42745308]
DEBUG:root:mean evidence: 2.123, std: 2.474 -> th=6.664759777968335
INFO:root:current most likely hypothesis: montys_heart with evidence 8.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.39964219,  0.15998408, -0.90260247],
       [-0.3716454 , -0.92837476,  0.        ],
       [-0.83795335,  0.33544806,  0.43047507]]), 'pose_fully_defined': False}}, {'patch': array([-0.00998575, -0.01229829, -0.01958279])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 67 out of 14880 hypotheses for montys_heart (evidence > 1.6661899444920838)
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: 8.618
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 1.6661899444920838)
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: 1.608
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1134 out of 16976 hypotheses for mustard_bottle (evidence > 1.6661899444920838)
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: 2.656
INFO:root:Testing 507 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6661899444920838)
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: 1.78
INFO:root:Testing 2013 out of 19024 hypotheses for potted_meat_can (evidence > 1.6661899444920838)
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: 4.87
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.61759458 0.17560741 1.60827106 0.72679572
 0.23157774 2.65637585 1.78001635 4.86953183]
DEBUG:root:mean evidence: 2.111, std: 2.587 -> th=6.894075667001371
INFO:root:current most likely hypothesis: montys_heart with evidence 8.62
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.61759458 0.17560741 1.60827106 0.72679572
 0.23157774 2.65637585 1.78001635 4.86953183]
DEBUG:root:mean evidence: 2.111, std: 2.587 -> th=6.894075667001371
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.61759458 0.17560741 1.60827106 0.72679572
 0.23157774 2.65637585 1.78001635 4.86953183]
DEBUG:root:mean evidence: 2.111, std: 2.587 -> th=7.324955396188956
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: {'montys_heart'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:54647 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.31426881,  0.17552343, -0.93296658],
       [-0.4876152 , -0.87305866,  0.        ],
       [-0.81453455,  0.45492868,  0.359963  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00323119, -0.00852766, -0.00128029])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 1.7235189167503426)
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: 9.058
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.608
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 182 out of 16976 hypotheses for mustard_bottle (evidence > 1.7235189167503426)
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: 2.99
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7235189167503426)
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: 1.78
INFO:root:Testing 336 out of 19024 hypotheses for potted_meat_can (evidence > 1.7235189167503426)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.304
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.05821776 0.17560741 1.60827106 0.72679572
 0.23157774 2.99004298 1.78042539 5.30375538]
DEBUG:root:mean evidence: 2.232, std: 2.753 -> th=7.246574210131638
INFO:root:current most likely hypothesis: montys_heart with evidence 9.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:54647 - "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([[-0.34527934,  0.19159584, -0.91873457],
       [-0.48520549, -0.87440016,  0.        ],
       [-0.80334166,  0.44577505,  0.39487566]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00321069, -0.015233  , -0.00201563])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 1.8116435525329093)
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: 8.058
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.608
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 1.8116435525329093)
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: 2.757
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.78
INFO:root:Testing 179 out of 19024 hypotheses for potted_meat_can (evidence > 1.8116435525329093)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.666
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.05821776 0.17560741 1.60827106 0.72679572
 0.23157774 2.75672139 1.78042539 5.66592585]
DEBUG:root:mean evidence: 2.145, std: 2.551 -> th=6.446574210131638
INFO:root:current most likely hypothesis: montys_heart with evidence 8.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:54649 - "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([[-0.41933174,  0.13781783, -0.89731106],
       [-0.31222976, -0.95000662,  0.        ],
       [-0.85245144,  0.28016722,  0.44139876]]), 'pose_fully_defined': False}}, {'patch': array([-0.00349206, -0.00543098,  0.00283633])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 1.6116435525329091)
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: 7.058
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.608
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 12551 out of 16976 hypotheses for mustard_bottle (evidence > 1.6116435525329091)
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: 3.14
INFO:root:Testing 270 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6116435525329091)
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: 1.852
INFO:root:Testing 12096 out of 19024 hypotheses for potted_meat_can (evidence > 1.6116435525329091)
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: 6.063
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.05821776 0.17560741 1.60827106 0.72679572
 0.23157774 3.13965029 1.85212886 6.06279162]
DEBUG:root:mean evidence: 2.13, std: 2.404 -> th=5.646574210131638
INFO:root:current most likely hypothesis: montys_heart with evidence 7.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:54649 - "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([[-0.42091426,  0.1490895 , -0.8947645 ],
       [-0.33387839, -0.94261616,  0.        ],
       [-0.84341947,  0.29874253,  0.44653834]]), 'pose_fully_defined': False}}, {'patch': array([-0.00246759,  0.00258231,  0.0009819 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 347 out of 14880 hypotheses for montys_heart (evidence > 1.411643552532909)
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: 6.058
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 1.411643552532909)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.411
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3770 out of 16976 hypotheses for mustard_bottle (evidence > 1.411643552532909)
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: 3.518
INFO:root:Testing 990 out of 17728 hypotheses for tuna_fish_can (evidence > 1.411643552532909)
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 2968 out of 19024 hypotheses for potted_meat_can (evidence > 1.411643552532909)
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: 6.477
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.05821776 0.17560741 1.41052632 0.72679572
 0.23157774 3.51778013 1.92216598 6.47665351]
DEBUG:root:mean evidence: 2.097, std: 2.312 -> th=5.181322807749363
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.95159255, -0.22034447,  0.21428937],
       [ 0.22558475, -0.97422355,  0.        ],
       [ 0.20876575,  0.04834041,  0.97677022]]), 'pose_fully_defined': False}}, {'patch': array([-0.03767127,  0.02876247,  0.0499746 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 13575 out of 14880 hypotheses for montys_heart (evidence > 1.2953307019373401)
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: 6.473
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 1.2953307019373401)
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: 1.283
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3719 out of 16976 hypotheses for mustard_bottle (evidence > 1.2953307019373401)
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: 2.812
INFO:root:Testing 1477 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2953307019373401)
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: 1.295
INFO:root:Testing 2668 out of 19024 hypotheses for potted_meat_can (evidence > 1.2953307019373401)
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: 5.477
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.47338683 0.17560741 1.28345154 0.72679572
 0.23157774 2.8119381  1.29515256 5.47665351]
DEBUG:root:mean evidence: 1.892, std: 2.192 -> th=5.178709462535306
INFO:root:current most likely hypothesis: montys_heart with evidence 6.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.95934197, -0.2063534 ,  0.19256495],
       [ 0.21028912, -0.97763924,  0.        ],
       [ 0.18825905,  0.04049431,  0.98128423]]), 'pose_fully_defined': False}}, {'patch': array([-0.00204311,  0.00987838,  0.00097509])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 5173 out of 14880 hypotheses for montys_heart (evidence > 1.2946773656338264)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.87
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.283
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 810 out of 16976 hypotheses for mustard_bottle (evidence > 1.2946773656338264)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.21
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2946773656338264)
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: 1.294
INFO:root:Testing 797 out of 19024 hypotheses for potted_meat_can (evidence > 1.2946773656338264)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.477
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.86959101 0.17560741 1.28345154 0.72679572
 0.23157774 3.21001492 1.29445101 4.47665351]
DEBUG:root:mean evidence: 1.872, std: 2.158 -> th=5.495672807352929
INFO:root:current most likely hypothesis: montys_heart with evidence 6.87
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.86959101 0.17560741 1.28345154 0.72679572
 0.23157774 3.21001492 1.29445101 4.47665351]
DEBUG:root:mean evidence: 1.872, std: 2.158 -> th=5.495672807352929
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.86959101 0.17560741 1.28345154 0.72679572
 0.23157774 3.21001492 1.29445101 4.47665351]
DEBUG:root:mean evidence: 1.872, std: 2.158 -> th=5.8391523578124875
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: {'montys_heart'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.97842356, -0.20213773,  0.04275133],
       [ 0.20232271, -0.97931891,  0.        ],
       [ 0.04186719,  0.00864957,  0.99908574]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00105221,  0.01463818, -0.00130864])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 4313 out of 14880 hypotheses for montys_heart (evidence > 1.373918201838232)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 7.128
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.283
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 416 out of 16976 hypotheses for mustard_bottle (evidence > 1.373918201838232)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.618
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.294
INFO:root:Testing 483 out of 19024 hypotheses for potted_meat_can (evidence > 1.373918201838232)
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: 3.877
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.12815608 0.17560741 1.28345154 0.72679572
 0.23157774 3.61807747 1.29445101 3.87710355]
DEBUG:root:mean evidence: 1.878, std: 2.184 -> th=5.702524861127957
INFO:root:current most likely hypothesis: montys_heart with evidence 7.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.98335379, -0.17239019,  0.05741904],
       [ 0.17267507, -0.98497884,  0.        ],
       [ 0.05655654,  0.00991484,  0.99835017]]), 'pose_fully_defined': False}}, {'patch': array([-0.00588934,  0.00171578,  0.00013253])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 3343 out of 14880 hypotheses for montys_heart (evidence > 1.4256312152819888)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.128
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.283
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 241 out of 16976 hypotheses for mustard_bottle (evidence > 1.4256312152819888)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.016
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.294
INFO:root:Testing 283 out of 19024 hypotheses for potted_meat_can (evidence > 1.4256312152819888)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.26
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.12815608 0.17560741 1.28345154 0.72679572
 0.23157774 4.01609799 1.29445101 4.2595672 ]
DEBUG:root:mean evidence: 1.856, std: 2.035 -> th=4.902524861127957
INFO:root:current most likely hypothesis: montys_heart with evidence 6.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.97405607, -0.18119292,  0.13558724],
       [ 0.18288176, -0.98313492,  0.        ],
       [ 0.13330055,  0.02479643,  0.99076541]]), 'pose_fully_defined': False}}, {'patch': array([-0.00024729,  0.01102921, -0.00169306])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 3064 out of 14880 hypotheses for montys_heart (evidence > 1.2256312152819886)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.128
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 1.2256312152819886)
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: 1.217
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 697 out of 16976 hypotheses for mustard_bottle (evidence > 1.2256312152819886)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.449
INFO:root:Testing 479 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2256312152819886)
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: 1.592
INFO:root:Testing 778 out of 19024 hypotheses for potted_meat_can (evidence > 1.2256312152819886)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.628
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.12815608 0.17560741 1.21709258 0.72679572
 0.23157774 4.44862436 1.59183847 4.62797238]
DEBUG:root:mean evidence: 1.86, std: 1.941 -> th=4.102524861127957
INFO:root:current most likely hypothesis: montys_heart with evidence 5.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.97586938, -0.16044322,  0.14811122],
       [ 0.16223252, -0.98675256,  0.        ],
       [ 0.14614912,  0.02402846,  0.98897071]]), 'pose_fully_defined': False}}, {'patch': array([-0.00108655,  0.01116563, -0.00024182])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 2356 out of 14880 hypotheses for montys_heart (evidence > 1.0256312152819893)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.247
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 404 out of 14864 hypotheses for hot_sauce (evidence > 1.0256312152819893)
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: 1.026
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3388 out of 16976 hypotheses for mustard_bottle (evidence > 1.0256312152819893)
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: 4.9
INFO:root:Testing 1126 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0256312152819893)
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: 1.896
INFO:root:Testing 4257 out of 19024 hypotheses for potted_meat_can (evidence > 1.0256312152819893)
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: 4.701
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.24688132 0.17560741 1.0255971  0.72679572
 0.23157774 4.90043727 1.89598791 4.70125265]
DEBUG:root:mean evidence: 1.835, std: 1.893 -> th=3.9203498124871876
INFO:root:current most likely hypothesis: mustard_bottle with evidence 4.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:54650 - "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([[-0.98676763, -0.14650754,  0.06946351],
       [ 0.14686229, -0.98915695,  0.        ],
       [ 0.06871031,  0.01020157,  0.99758449]]), 'pose_fully_defined': False}}, {'patch': array([0.00855514, 0.00697733, 0.00026643])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 1286 out of 14880 hypotheses for montys_heart (evidence > 0.9800874531217967)
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: 4.635
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 271 out of 14864 hypotheses for hot_sauce (evidence > 0.9800874531217967)
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: 0.98
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 744 out of 16976 hypotheses for mustard_bottle (evidence > 0.9800874531217967)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.045
INFO:root:Testing 344 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9800874531217967)
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: 2.158
INFO:root:Testing 1164 out of 19024 hypotheses for potted_meat_can (evidence > 0.9800874531217967)
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: 3.802
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.63508503 0.17560741 0.98005076 0.72679572
 0.23157774 4.04450506 2.15771696 3.80179906]
DEBUG:root:mean evidence: 1.72, std: 1.704 -> th=3.708068020698876
INFO:root:current most likely hypothesis: montys_heart with evidence 4.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:54652 - "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([[-0.30518242, -0.08515484,  0.94847896],
       [ 0.26876282, -0.96320639,  0.        ],
       [ 0.913581  ,  0.25491588,  0.31684011]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03657266, -0.04580254,  0.02478025])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 1127 out of 14880 hypotheses for montys_heart (evidence > 0.9270170051747186)
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: 4.986
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 334 out of 14864 hypotheses for hot_sauce (evidence > 0.9270170051747186)
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: 1.435
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 727 out of 16976 hypotheses for mustard_bottle (evidence > 0.9270170051747186)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.117
INFO:root:Testing 235 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9270170051747186)
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: 1.764
INFO:root:Testing 927 out of 19024 hypotheses for potted_meat_can (evidence > 0.9270170051747186)
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: 3.83
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.98627407 0.17560741 1.43464952 0.72679572
 0.23157774 4.11673852 1.76420001 3.83020209]
DEBUG:root:mean evidence: 1.771, std: 1.76 -> th=3.989019255568845
INFO:root:current most likely hypothesis: montys_heart with evidence 4.99
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.98627407 0.17560741 1.43464952 0.72679572
 0.23157774 4.11673852 1.76420001 3.83020209]
DEBUG:root:mean evidence: 1.771, std: 1.76 -> th=3.989019255568845
DEBUG:root:evidences for each object: [0.27781019 0.16999185 4.98627407 0.17560741 1.43464952 0.72679572
 0.23157774 4.11673852 1.76420001 3.83020209]
DEBUG:root:mean evidence: 1.771, std: 1.76 -> th=4.238332959041898
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:54652 - "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([[-0.58212599, -0.09736665,  0.80724783],
       [ 0.16496877, -0.98629879,  0.        ],
       [ 0.79618756,  0.13317069,  0.59021262]]), 'pose_fully_defined': False}}, {'patch': array([-0.00754522,  0.00783411, -0.00030076])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 887 out of 14880 hypotheses for montys_heart (evidence > 0.9972548138922113)
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: 5.373
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 206 out of 14864 hypotheses for hot_sauce (evidence > 0.9972548138922113)
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: 1.89
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 340 out of 16976 hypotheses for mustard_bottle (evidence > 0.9972548138922113)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.445
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9972548138922113)
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: 2.023
INFO:root:Testing 313 out of 19024 hypotheses for potted_meat_can (evidence > 0.9972548138922113)
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: 3.857
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.37299923 0.17560741 1.88984455 0.72679572
 0.23157774 4.44496202 2.02279713 3.85745578]
DEBUG:root:mean evidence: 1.917, std: 1.875 -> th=4.2983993877963975
INFO:root:current most likely hypothesis: montys_heart with evidence 5.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:54652 - "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([[-0.40764007, -0.05728507,  0.91134406],
       [ 0.13916117, -0.99026975,  0.        ],
       [ 0.90247645,  0.12682371,  0.41164548]]), 'pose_fully_defined': False}}, {'patch': array([0.0003595 , 0.0096639 , 0.00196588])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 760 out of 14880 hypotheses for montys_heart (evidence > 1.0745998469490994)
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: 5.762
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 187 out of 14864 hypotheses for hot_sauce (evidence > 1.0745998469490994)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.379
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 280 out of 16976 hypotheses for mustard_bottle (evidence > 1.0745998469490994)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.901
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0745998469490994)
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: 2.394
INFO:root:Testing 228 out of 19024 hypotheses for potted_meat_can (evidence > 1.0745998469490994)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.272
DEBUG:root:evidences for each object: [0.27781019 0.16999185 5.76219267 0.17560741 2.37876423 0.72679572
 0.23157774 4.90077304 2.39380027 4.27237292]
DEBUG:root:mean evidence: 2.129, std: 2.056 -> th=4.609754132739045
INFO:root:current most likely hypothesis: montys_heart with evidence 5.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:54652 - "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([[-0.36066931, -0.06968314,  0.93008704],
       [ 0.18969698, -0.98184268,  0.        ],
       [ 0.91319916,  0.1764347 ,  0.36733921]]), 'pose_fully_defined': False}}, {'patch': array([-0.00122913,  0.00943789,  0.00146511])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 637 out of 14880 hypotheses for montys_heart (evidence > 1.1524385331847613)
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: 6.262
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 180 out of 14864 hypotheses for hot_sauce (evidence > 1.1524385331847613)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.842
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 200 out of 16976 hypotheses for mustard_bottle (evidence > 1.1524385331847613)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.342
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1524385331847613)
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: 2.81
INFO:root:Testing 162 out of 19024 hypotheses for potted_meat_can (evidence > 1.1524385331847613)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.439
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.26219267 0.17560741 2.84166129 0.72679572
 0.23157774 5.34200755 2.810469   4.4389341 ]
DEBUG:root:mean evidence: 2.328, std: 2.235 -> th=5.009754132739046
INFO:root:current most likely hypothesis: montys_heart with evidence 6.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:54652 - "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([[-0.21090979, -0.07035233,  0.97497057],
       [ 0.31642638, -0.94861707,  0.        ],
       [ 0.92487372,  0.30850641,  0.22233396]]), 'pose_fully_defined': False}}, {'patch': array([0.00386839, 0.0114469 , 0.00353572])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 503 out of 14880 hypotheses for montys_heart (evidence > 1.252438533184761)
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: 6.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 125 out of 14864 hypotheses for hot_sauce (evidence > 1.252438533184761)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.299
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 149 out of 16976 hypotheses for mustard_bottle (evidence > 1.252438533184761)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.751
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 1.252438533184761)
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: 3.216
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 1.252438533184761)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.784
DEBUG:root:evidences for each object: [0.27781019 0.16999185 6.70008784 0.17560741 3.29896429 0.72679572
 0.23157774 5.75141228 3.21561297 4.7842961 ]
DEBUG:root:mean evidence: 2.533, std: 2.421 -> th=5.360070273174742
INFO:root:current most likely hypothesis: montys_heart with evidence 6.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:54654 - "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([[-0.2714348 , -0.02549676,  0.96211905],
       [ 0.09352159, -0.99561725,  0.        ],
       [ 0.95790232,  0.0899789 ,  0.27262966]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00254827, -0.02446565, -0.00375779])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 450 out of 14880 hypotheses for montys_heart (evidence > 1.3400175682936855)
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: 7.149
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 1.3400175682936855)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.761
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 112 out of 16976 hypotheses for mustard_bottle (evidence > 1.3400175682936855)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.186
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3400175682936855)
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: 3.589
INFO:root:Testing 80 out of 19024 hypotheses for potted_meat_can (evidence > 1.3400175682936855)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.23
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.14851084 0.17560741 3.7611086  0.72679572
 0.23157774 6.18580094 3.58902494 5.22997832]
DEBUG:root:mean evidence: 2.75, std: 2.624 -> th=5.718808672021566
INFO:root:current most likely hypothesis: montys_heart with evidence 7.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:54654 - "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([[-0.2685951 , -0.02505744,  0.9629272 ],
       [ 0.09288744, -0.99567662,  0.        ],
       [ 0.9587641 ,  0.08944384,  0.26976138]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00154196, -0.00971999, -0.00223851])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 443 out of 14880 hypotheses for montys_heart (evidence > 1.4297021680053907)
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: 7.601
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 1.4297021680053907)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.252
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 108 out of 16976 hypotheses for mustard_bottle (evidence > 1.4297021680053907)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.638
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4297021680053907)
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: 3.906
INFO:root:Testing 80 out of 19024 hypotheses for potted_meat_can (evidence > 1.4297021680053907)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.676
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.60083636 0.17560741 4.25222584 0.72679572
 0.23157774 6.63810813 3.90617502 5.67557207]
DEBUG:root:mean evidence: 2.965, std: 2.831 -> th=6.0806690903444345
INFO:root:current most likely hypothesis: montys_heart with evidence 7.6
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.60083636 0.17560741 4.25222584 0.72679572
 0.23157774 6.63810813 3.90617502 5.67557207]
DEBUG:root:mean evidence: 2.965, std: 2.831 -> th=6.0806690903444345
DEBUG:root:evidences for each object: [0.27781019 0.16999185 7.60083636 0.17560741 4.25222584 0.72679572
 0.23157774 6.63810813 3.90617502 5.67557207]
DEBUG:root:mean evidence: 2.965, std: 2.831 -> th=6.460710908490961
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:54654 - "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([[-0.29343903, -0.02974481,  0.95551493],
       [ 0.10084943, -0.9949017 ,  0.        ],
       [ 0.95064343,  0.09636314,  0.29494274]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00045698, -0.0092164 , -0.00019433])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 442 out of 14880 hypotheses for montys_heart (evidence > 1.5201672725861082)
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: 8.04
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 1.5201672725861082)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.748
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 107 out of 16976 hypotheses for mustard_bottle (evidence > 1.5201672725861082)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.001
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5201672725861082)
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: 2.906
INFO:root:Testing 79 out of 19024 hypotheses for potted_meat_can (evidence > 1.5201672725861082)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.081
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.03967423 0.17560741 4.7476974  0.72679572
 0.23157774 7.00085277 2.90617502 6.08100197]
DEBUG:root:mean evidence: 3.036, std: 3.003 -> th=6.431739385562537
INFO:root:current most likely hypothesis: montys_heart with evidence 8.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.0353222 , -0.01668137,  0.99923675],
       [ 0.42703646, -0.90423441,  0.        ],
       [ 0.90354425,  0.42671052,  0.0390631 ]]), 'pose_fully_defined': False}}, {'patch': array([0.01222298, 0.00301769, 0.00096423])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 434 out of 14880 hypotheses for montys_heart (evidence > 1.6079348463906342)
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: 8.39
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 40 out of 14864 hypotheses for hot_sauce (evidence > 1.6079348463906342)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.245
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 95 out of 16976 hypotheses for mustard_bottle (evidence > 1.6079348463906342)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.456
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6079348463906342)
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: 2.467
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 1.6079348463906342)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.545
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.38962556 0.17560741 5.24453801 0.72679572
 0.23157774 7.45635337 2.46680609 6.54470145]
DEBUG:root:mean evidence: 3.168, std: 3.205 -> th=6.711700445667169
INFO:root:current most likely hypothesis: montys_heart with evidence 8.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.1152388 , -0.03774146,  0.99262057],
       [ 0.31123975, -0.95033142,  0.        ],
       [ 0.94331852,  0.30894298,  0.12126169]]), 'pose_fully_defined': False}}, {'patch': array([-0.00565362,  0.01254047,  0.00043846])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 433 out of 14880 hypotheses for montys_heart (evidence > 1.6779251114167923)
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: 8.882
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 1.6779251114167923)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.688
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 85 out of 16976 hypotheses for mustard_bottle (evidence > 1.6779251114167923)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.924
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6779251114167923)
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: 2.887
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 1.6779251114167923)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.008
DEBUG:root:evidences for each object: [0.27781019 0.16999185 8.88230155 0.17560741 5.68815767 0.72679572
 0.23157774 7.92390535 2.88739726 7.00847126]
DEBUG:root:mean evidence: 3.397, std: 3.418 -> th=7.1058412397631825
INFO:root:current most likely hypothesis: montys_heart with evidence 8.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:54655 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.16211459, -0.04243018,  0.98585929],
       [ 0.25320079, -0.96741375,  0.        ],
       [ 0.95373383,  0.24962035,  0.16757524]]), 'pose_fully_defined': False}}, {'patch': array([-0.00567558,  0.01604061,  0.00159684])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 433 out of 14880 hypotheses for montys_heart (evidence > 1.776460309940795)
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: 9.322
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 1.776460309940795)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.17
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 85 out of 16976 hypotheses for mustard_bottle (evidence > 1.776460309940795)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.315
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 1.776460309940795)
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: 3.271
INFO:root:Testing 72 out of 19024 hypotheses for potted_meat_can (evidence > 1.776460309940795)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.448
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.32246523 0.17560741 6.16970761 0.72679572
 0.23157774 8.31474851 3.27069805 7.44753402]
DEBUG:root:mean evidence: 3.611, std: 3.614 -> th=7.45797218525499
INFO:root:current most likely hypothesis: montys_heart with evidence 9.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.22647034, -0.05107355,  0.97267809],
       [ 0.2199948 , -0.97550104,  0.        ],
       [ 0.9488485 ,  0.21398412,  0.23215797]]), 'pose_fully_defined': False}}, {'patch': array([-0.00376619,  0.01141185,  0.00071863])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 430 out of 14880 hypotheses for montys_heart (evidence > 1.864493046313747)
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: 9.761
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 34 out of 14864 hypotheses for hot_sauce (evidence > 1.864493046313747)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.635
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 85 out of 16976 hypotheses for mustard_bottle (evidence > 1.864493046313747)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.758
INFO:root:Testing 12760 out of 17728 hypotheses for tuna_fish_can (evidence > 1.864493046313747)
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: 3.52
INFO:root:Testing 72 out of 19024 hypotheses for potted_meat_can (evidence > 1.864493046313747)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.881
DEBUG:root:evidences for each object: [0.27781019 0.16999185 9.76077209 0.17560741 6.63463954 0.72679572
 0.23157774 8.75828694 3.52002011 7.88077054]
DEBUG:root:mean evidence: 3.814, std: 3.818 -> th=7.8086176693345095
INFO:root:current most likely hypothesis: montys_heart with evidence 9.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.18337136, -0.01949345,  0.98285042],
       [ 0.10571022, -0.99439698,  0.        ],
       [ 0.97734349,  0.10389734,  0.18440458]]), 'pose_fully_defined': False}}, {'patch': array([0.00085308, 0.00585375, 0.00227824])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 408 out of 14880 hypotheses for montys_heart (evidence > 1.9521544173336274)
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: 10.127
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 33 out of 14864 hypotheses for hot_sauce (evidence > 1.9521544173336274)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 82 out of 16976 hypotheses for mustard_bottle (evidence > 1.9521544173336274)
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: 9.214
INFO:root:Testing 2786 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9521544173336274)
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: 3.773
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 1.9521544173336274)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.328
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.12665232  0.17560741  7.11501812  0.72679572
  0.23157774  9.21386999  3.77311524  8.32826734]
DEBUG:root:mean evidence: 4.014, std: 4.016 -> th=8.101321858098459
INFO:root:current most likely hypothesis: montys_heart with evidence 10.13
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.12665232  0.17560741  7.11501812  0.72679572
  0.23157774  9.21386999  3.77311524  8.32826734]
DEBUG:root:mean evidence: 4.014, std: 4.016 -> th=8.101321858098459
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.12665232  0.17560741  7.11501812  0.72679572
  0.23157774  9.21386999  3.77311524  8.32826734]
DEBUG:root:mean evidence: 4.014, std: 4.016 -> th=8.607654474229612
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:54655 - "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([[-0.54361457, -0.00901498,  0.83928656],
       [ 0.01658113, -0.99986252,  0.        ],
       [ 0.83917118,  0.01391632,  0.54368931]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01026996,  0.0037492 , -0.02258748])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 379 out of 14880 hypotheses for montys_heart (evidence > 2.0253304645246146)
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: 10.241
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 28 out of 14864 hypotheses for hot_sauce (evidence > 2.0253304645246146)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 77 out of 16976 hypotheses for mustard_bottle (evidence > 2.0253304645246146)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.214
INFO:root:Testing 739 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0253304645246146)
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: 3.731
INFO:root:Testing 66 out of 19024 hypotheses for potted_meat_can (evidence > 2.0253304645246146)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.159
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.24131518  0.17560741  6.11501812  0.72679572
  0.23157774  8.21386999  3.73060061  8.15903501]
DEBUG:root:mean evidence: 3.804, std: 3.824 -> th=8.193052140872293
INFO:root:current most likely hypothesis: montys_heart with evidence 10.24
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.24131518  0.17560741  6.11501812  0.72679572
  0.23157774  8.21386999  3.73060061  8.15903501]
DEBUG:root:mean evidence: 3.804, std: 3.824 -> th=8.193052140872293
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.24131518  0.17560741  6.11501812  0.72679572
  0.23157774  8.21386999  3.73060061  8.15903501]
DEBUG:root:mean evidence: 3.804, std: 3.824 -> th=8.705117899676813
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.84875827,  0.13509661,  0.51123214],
       [-0.15719095,  0.98756823,  0.        ],
       [-0.50487662, -0.08036106,  0.85944267]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02706528, -0.02915228, -0.00345199])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 367 out of 14880 hypotheses for montys_heart (evidence > 2.0482630352180724)
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: 10.673
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 2.0482630352180724)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.458
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 77 out of 16976 hypotheses for mustard_bottle (evidence > 2.0482630352180724)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.658
INFO:root:Testing 427 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0482630352180724)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.088
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 2.0482630352180724)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.627
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.67252882  0.17560741  6.45795436  0.72679572
  0.23157774  8.6580411   4.08781691  8.62671641]
DEBUG:root:mean evidence: 4.008, std: 4.022 -> th=8.538023054245455
INFO:root:current most likely hypothesis: montys_heart with evidence 10.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.8852805 ,  0.19989402,  0.41990573],
       [-0.22025245,  0.9754429 ,  0.        ],
       [-0.40959406, -0.09248527,  0.90756773]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00342104, -0.0093148 , -0.00208136])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 373 out of 14880 hypotheses for montys_heart (evidence > 2.1345057635613642)
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: 11.097
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 28 out of 14864 hypotheses for hot_sauce (evidence > 2.1345057635613642)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.887
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 77 out of 16976 hypotheses for mustard_bottle (evidence > 2.1345057635613642)
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: 9.113
INFO:root:Testing 431 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1345057635613642)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.499
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 2.1345057635613642)
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: 9.072
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.09671023  0.17560741  6.88717208  0.72679572
  0.23157774  9.11316763  4.49946448  9.07150758]
DEBUG:root:mean evidence: 4.225, std: 4.223 -> th=8.877368186175273
INFO:root:current most likely hypothesis: montys_heart with evidence 11.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.88277132,  0.12489529,  0.4528973 ],
       [-0.14008582,  0.99013937,  0.        ],
       [-0.44843145, -0.06344449,  0.89156269]]), 'pose_fully_defined': False}}, {'patch': array([-5.84719533e-04, -4.48595302e-03, -6.24808090e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 375 out of 14880 hypotheses for montys_heart (evidence > 2.2193420465438187)
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: 11.553
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 2.2193420465438187)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.317
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 2.2193420465438187)
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: 9.591
INFO:root:Testing 521 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2193420465438187)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.905
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 2.2193420465438187)
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: 9.518
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.55266477  0.17560741  7.31722444  0.72679572
  0.23157774  9.59109878  4.90464633  9.51754608]
DEBUG:root:mean evidence: 4.446, std: 4.434 -> th=9.24213181614954
INFO:root:current most likely hypothesis: montys_heart with evidence 11.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.8478519 ,  0.06702532,  0.52597982],
       [-0.07880724,  0.99688987,  0.        ],
       [-0.52434395, -0.04145102,  0.85049705]]), 'pose_fully_defined': False}}, {'patch': array([-0.00081294, -0.00091823,  0.00230054])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 375 out of 14880 hypotheses for montys_heart (evidence > 2.3105329540373845)
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: 11.994
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 298 out of 14864 hypotheses for hot_sauce (evidence > 2.3105329540373845)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.708
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 103 out of 16976 hypotheses for mustard_bottle (evidence > 2.3105329540373845)
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: 10.031
INFO:root:Testing 520 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3105329540373845)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.281
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 2.3105329540373845)
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: 9.99
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.9937127   0.17560741  7.70771808  0.72679572
  0.23157774 10.03120075  5.28122425  9.9898101 ]
DEBUG:root:mean evidence: 4.659, std: 4.64 -> th=9.594970160447765
INFO:root:current most likely hypothesis: montys_heart with evidence 11.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.88654723,  0.04994118,  0.45993466],
       [-0.05624306,  0.99841711,  0.        ],
       [-0.45920664, -0.02586813,  0.88795276]]), 'pose_fully_defined': False}}, {'patch': array([-0.00308911,  0.02040764, -0.00097783])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 375 out of 14880 hypotheses for montys_heart (evidence > 2.3987425401119413)
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: 12.478
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2142 out of 14864 hypotheses for hot_sauce (evidence > 2.3987425401119413)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.083
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 147 out of 16976 hypotheses for mustard_bottle (evidence > 2.3987425401119413)
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: 10.491
INFO:root:Testing 516 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3987425401119413)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.664
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 2.3987425401119413)
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: 10.472
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.47826062  0.17560741  8.08253854  0.72679572
  0.23157774 10.49075296  5.66448374 10.47167081]
DEBUG:root:mean evidence: 4.877, std: 4.855 -> th=9.982608492757025
INFO:root:current most likely hypothesis: montys_heart with evidence 12.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:54657 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.91378739,  0.0476057 ,  0.40339348],
       [-0.05202657,  0.9986457 ,  0.        ],
       [-0.40284717, -0.02098718,  0.91502661]]), 'pose_fully_defined': False}}, {'patch': array([-0.00083725,  0.01313756, -0.00123194])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 375 out of 14880 hypotheses for montys_heart (evidence > 2.495652123189256)
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: 12.892
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2137 out of 14864 hypotheses for hot_sauce (evidence > 2.495652123189256)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.488
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 146 out of 16976 hypotheses for mustard_bottle (evidence > 2.495652123189256)
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: 10.883
INFO:root:Testing 514 out of 17728 hypotheses for tuna_fish_can (evidence > 2.495652123189256)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.08
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 2.495652123189256)
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: 10.949
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.89238744  0.17560741  8.48798385  0.72679572
  0.23157774 10.88298243  6.07991617 10.94858326]
DEBUG:root:mean evidence: 5.087, std: 5.054 -> th=10.313909953683062
INFO:root:current most likely hypothesis: montys_heart with evidence 12.89
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.89238744  0.17560741  8.48798385  0.72679572
  0.23157774 10.88298243  6.07991617 10.94858326]
DEBUG:root:mean evidence: 5.087, std: 5.054 -> th=10.313909953683062
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.89238744  0.17560741  8.48798385  0.72679572
  0.23157774 10.88298243  6.07991617 10.94858326]
DEBUG:root:mean evidence: 5.087, std: 5.054 -> th=10.958529325788254
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.93792791,  0.04570452,  0.34380565],
       [-0.0486715 ,  0.99881484,  0.        ],
       [-0.34339819, -0.01673354,  0.93904083]]), 'pose_fully_defined': False}}, {'patch': array([-0.00221585,  0.01127585,  0.0009222 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 373 out of 14880 hypotheses for montys_heart (evidence > 2.5784774884207646)
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: 12.418
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1058 out of 14864 hypotheses for hot_sauce (evidence > 2.5784774884207646)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.947
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 2.5784774884207646)
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: 11.206
INFO:root:Testing 476 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5784774884207646)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.516
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 2.5784774884207646)
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: 11.395
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.41830901  0.17560741  8.94745804  0.72679572
  0.23157774 11.2055104   6.51603535 11.39465444]
DEBUG:root:mean evidence: 5.206, std: 5.117 -> th=9.934647205174418
INFO:root:current most likely hypothesis: montys_heart with evidence 12.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.94403665,  0.02969271,  0.32850137],
       [-0.03143738,  0.99950572,  0.        ],
       [-0.328339  , -0.01032722,  0.94450349]]), 'pose_fully_defined': False}}, {'patch': array([-0.00054532,  0.00848788, -0.00071323])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 355 out of 14880 hypotheses for montys_heart (evidence > 2.4836618012936036)
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: 11.418
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 319 out of 14864 hypotheses for hot_sauce (evidence > 2.4836618012936036)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.402
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 109 out of 16976 hypotheses for mustard_bottle (evidence > 2.4836618012936036)
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: 11.589
INFO:root:Testing 333 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4836618012936036)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.962
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 2.4836618012936036)
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: 10.395
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.41830901  0.17560741  9.40232761  0.72679572
  0.23157774 11.58919127  6.96245121 10.39465444]
DEBUG:root:mean evidence: 5.135, std: 4.967 -> th=9.271353013614462
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.93275818,  0.03346139,  0.35894639],
       [-0.03585054,  0.99935716,  0.        ],
       [-0.35871564, -0.01286842,  0.93335818]]), 'pose_fully_defined': False}}, {'patch': array([-0.00146661,  0.00250851,  0.00115908])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 329 out of 14880 hypotheses for montys_heart (evidence > 2.3178382534036146)
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: 11.263
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1230 out of 14864 hypotheses for hot_sauce (evidence > 2.3178382534036146)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.847
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 152 out of 16976 hypotheses for mustard_bottle (evidence > 2.3178382534036146)
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: 11.848
INFO:root:Testing 255 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3178382534036146)
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: 7.391
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 2.3178382534036146)
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: 9.942
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.26272525  0.17560741  9.84663817  0.72679572
  0.23157774 11.84793034  7.39111739  9.94197483]
DEBUG:root:mean evidence: 5.187, std: 4.993 -> th=9.478344274435747
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.85163907,  0.0140117 ,  0.52394137],
       [-0.0164504 ,  0.99986468,  0.        ],
       [-0.52387047, -0.00861905,  0.85175433]]), 'pose_fully_defined': False}}, {'patch': array([ 3.40452812e-05, -3.22225469e-02,  8.90369805e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 284 out of 14880 hypotheses for montys_heart (evidence > 2.369586068608937)
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: 11.705
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 2.369586068608937)
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: 10.288
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 108 out of 16976 hypotheses for mustard_bottle (evidence > 2.369586068608937)
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: 12.264
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 2.369586068608937)
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: 7.772
INFO:root:Testing 57 out of 19024 hypotheses for potted_meat_can (evidence > 2.369586068608937)
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: 10.294
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.70507677  0.17560741 10.28760463  0.72679572
  0.23157774 12.2639432   7.77232158 10.29369589]
DEBUG:root:mean evidence: 5.39, std: 5.194 -> th=9.811154562256274
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.82166106, -0.00189328,  0.56997326],
       [ 0.0023042 ,  0.99999735, -0.        ],
       [-0.56997175,  0.00131334,  0.82166324]]), 'pose_fully_defined': False}}, {'patch': array([-0.00060144, -0.01275474,  0.00037644])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 283 out of 14880 hypotheses for montys_heart (evidence > 2.4527886405640675)
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: 12.181
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 2.4527886405640675)
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: 10.727
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 215 out of 16976 hypotheses for mustard_bottle (evidence > 2.4527886405640675)
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: 12.741
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4527886405640675)
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: 8.134
INFO:root:Testing 58 out of 19024 hypotheses for potted_meat_can (evidence > 2.4527886405640675)
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: 10.629
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.18058141  0.17560741 10.72686443  0.72679572
  0.23157774 12.74081375  8.13389694 10.62906371]
DEBUG:root:mean evidence: 5.599, std: 5.405 -> th=10.192651002963391
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.81996832,  0.02883384,  0.57168222],
       [-0.03514286,  0.9993823 ,  0.        ],
       [-0.5713291 , -0.02009055,  0.82047513]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0033389 , -0.01138566, -0.00605462])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 289 out of 14880 hypotheses for montys_heart (evidence > 2.548162750740847)
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: 12.604
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 2.548162750740847)
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: 11.088
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 213 out of 16976 hypotheses for mustard_bottle (evidence > 2.548162750740847)
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: 13.181
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 2.548162750740847)
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: 8.495
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 2.548162750740847)
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: 10.95
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.60352686  0.17560741 11.08770337  0.72679572
  0.23157774 13.18058549  8.49463359 10.95049387]
DEBUG:root:mean evidence: 5.79, std: 5.595 -> th=10.544468393124415
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.18
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.60352686  0.17560741 11.08770337  0.72679572
  0.23157774 13.18058549  8.49463359 10.95049387]
DEBUG:root:mean evidence: 5.79, std: 5.595 -> th=10.544468393124415
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.60352686  0.17560741 11.08770337  0.72679572
  0.23157774 13.18058549  8.49463359 10.95049387]
DEBUG:root:mean evidence: 5.79, std: 5.595 -> th=11.203497667694691
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.89767935,  0.01185586,  0.44048974],
       [-0.01320608,  0.9999128 ,  0.        ],
       [-0.44045133, -0.00581714,  0.89775764]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00036936,  0.00708183, -0.00149407])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 289 out of 14880 hypotheses for montys_heart (evidence > 2.636117098281103)
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: 13.087
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 787 out of 14864 hypotheses for hot_sauce (evidence > 2.636117098281103)
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: 11.506
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 213 out of 16976 hypotheses for mustard_bottle (evidence > 2.636117098281103)
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: 13.668
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 2.636117098281103)
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: 8.932
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 2.636117098281103)
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: 11.343
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.08713266  0.17560741 11.50557045  0.72679572
  0.23157774 13.66764034  8.93168032 11.34288169]
DEBUG:root:mean evidence: 6.012, std: 5.816 -> th=10.934112273215774
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:54657 - "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([[ 0.87290511, -0.04746219,  0.48557595],
       [ 0.05429248,  0.99852508, -0.        ],
       [-0.48485977,  0.02636312,  0.87419448]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00199412, -0.00396914, -0.00494022])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 311 out of 14880 hypotheses for montys_heart (evidence > 2.7335280683039436)
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: 13.561
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1808 out of 14864 hypotheses for hot_sauce (evidence > 2.7335280683039436)
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: 11.885
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1610 out of 16976 hypotheses for mustard_bottle (evidence > 2.7335280683039436)
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: 14.083
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7335280683039436)
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: 9.317
INFO:root:Testing 68 out of 19024 hypotheses for potted_meat_can (evidence > 2.7335280683039436)
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: 11.729
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.56077137  0.17560741 11.88475469  0.72679572
  0.23157774 14.08305672  9.31749944 11.72861558]
DEBUG:root:mean evidence: 6.216, std: 6.019 -> th=11.266445372537188
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:54659 - "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([[ 0.90381444, -0.02076085,  0.42742068],
       [ 0.0229642 ,  0.99973629, -0.        ],
       [-0.42730797,  0.00981537,  0.90405285]]), 'pose_fully_defined': False}}, {'patch': array([-0.00238302,  0.01635243,  0.00442385])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 319 out of 14880 hypotheses for montys_heart (evidence > 2.816611343134296)
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: 13.959
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 11619 out of 14864 hypotheses for hot_sauce (evidence > 2.816611343134296)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 12.272
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 11833 out of 16976 hypotheses for mustard_bottle (evidence > 2.816611343134296)
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: 14.58
INFO:root:Testing 111 out of 17728 hypotheses for tuna_fish_can (evidence > 2.816611343134296)
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: 9.701
INFO:root:Testing 109 out of 19024 hypotheses for potted_meat_can (evidence > 2.816611343134296)
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: 12.131
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.95895981  0.17560741 12.27239127  0.72679572
  0.23157774 14.5798455   9.70096941 12.1314732 ]
DEBUG:root:mean evidence: 6.423, std: 6.225 -> th=11.663876396024156
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:54659 - "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([[ 0.89952893, -0.01118286,  0.43671804],
       [ 0.01243094,  0.99992273, -0.        ],
       [-0.4366843 ,  0.00542882,  0.89959844]]), 'pose_fully_defined': False}}, {'patch': array([-0.00346794,  0.0080714 ,  0.0026721 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 319 out of 14880 hypotheses for montys_heart (evidence > 2.9159690990060376)
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: 14.408
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 11490 out of 14864 hypotheses for hot_sauce (evidence > 2.9159690990060376)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 12.711
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 11717 out of 16976 hypotheses for mustard_bottle (evidence > 2.9159690990060376)
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: 14.999
INFO:root:Testing 259 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9159690990060376)
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: 10.095
INFO:root:Testing 108 out of 19024 hypotheses for potted_meat_can (evidence > 2.9159690990060376)
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: 12.575
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.4076879   0.17560741 12.71074301  0.72679572
  0.23157774 14.99895651 10.09458753 12.57515224]
DEBUG:root:mean evidence: 6.637, std: 6.437 -> th=11.99916521068147
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:54659 - "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([[ 0.90639489, -0.03192588,  0.42122327],
       [ 0.03520109,  0.99938025, -0.        ],
       [-0.42096222,  0.01482752,  0.90695698]]), 'pose_fully_defined': False}}, {'patch': array([-0.00161434,  0.01276259, -0.00205386])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 317 out of 14880 hypotheses for montys_heart (evidence > 2.999791302670367)
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: 14.753
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 9478 out of 14864 hypotheses for hot_sauce (evidence > 2.999791302670367)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 13.118
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 9818 out of 16976 hypotheses for mustard_bottle (evidence > 2.999791302670367)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 15.46
INFO:root:Testing 238 out of 17728 hypotheses for tuna_fish_can (evidence > 2.999791302670367)
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: 10.475
INFO:root:Testing 103 out of 19024 hypotheses for potted_meat_can (evidence > 2.999791302670367)
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: 13.02
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.75309013  0.17560741 13.11800177  0.72679572
  0.23157774 15.46030792 10.47498606 13.01967212]
DEBUG:root:mean evidence: 6.841, std: 6.639 -> th=12.368246338509106
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:54659 - "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([[ 0.92735381, -0.05238346,  0.37050085],
       [ 0.05639713,  0.99840842, -0.        ],
       [-0.36991117,  0.02089518,  0.92883213]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00775174, -0.02876229,  0.00429236])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 297 out of 14880 hypotheses for montys_heart (evidence > 3.0920615846272756)
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: 15.211
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4463 out of 14864 hypotheses for hot_sauce (evidence > 3.0920615846272756)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 13.532
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6555 out of 16976 hypotheses for mustard_bottle (evidence > 3.0920615846272756)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 15.932
INFO:root:Testing 174 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0920615846272756)
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: 10.915
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 3.0920615846272756)
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: 13.467
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.21061199  0.17560741 13.53187118  0.72679572
  0.23157774 15.93239585 10.91488372 13.46681499]
DEBUG:root:mean evidence: 7.064, std: 6.86 -> th=12.74591667823086
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.93
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.21061199  0.17560741 13.53187118  0.72679572
  0.23157774 15.93239585 10.91488372 13.46681499]
DEBUG:root:mean evidence: 7.064, std: 6.86 -> th=12.74591667823086
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.21061199  0.17560741 13.53187118  0.72679572
  0.23157774 15.93239585 10.91488372 13.46681499]
DEBUG:root:mean evidence: 7.064, std: 6.86 -> th=13.542536470620288
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:54661 - "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([[ 0.90076448, -0.04158889,  0.43231206],
       [ 0.04612152,  0.99893584, -0.        ],
       [-0.43185201,  0.01993889,  0.90172406]]), 'pose_fully_defined': False}}, {'patch': array([-0.00451375,  0.01219165, -0.00255155])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 298 out of 14880 hypotheses for montys_heart (evidence > 3.186479169557714)
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: 15.628
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4468 out of 14864 hypotheses for hot_sauce (evidence > 3.186479169557714)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 13.929
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6555 out of 16976 hypotheses for mustard_bottle (evidence > 3.186479169557714)
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: 16.394
INFO:root:Testing 183 out of 17728 hypotheses for tuna_fish_can (evidence > 3.186479169557714)
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: 11.29
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 3.186479169557714)
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: 13.868
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.62838231  0.17560741 13.92923826  0.72679572
  0.23157774 16.39438258 11.29046144 13.86842921]
DEBUG:root:mean evidence: 7.269, std: 7.065 -> th=13.115506064737318
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.39
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.62838231  0.17560741 13.92923826  0.72679572
  0.23157774 16.39438258 11.29046144 13.86842921]
DEBUG:root:mean evidence: 7.269, std: 7.065 -> th=13.115506064737318
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.62838231  0.17560741 13.92923826  0.72679572
  0.23157774 16.39438258 11.29046144 13.86842921]
DEBUG:root:mean evidence: 7.269, std: 7.065 -> th=13.935225193783399
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 9.99614420e-01,  2.65890821e-02, -8.00200882e-03],
       [-2.65899334e-02,  9.99646425e-01,  0.00000000e+00],
       [ 7.99917951e-03,  2.12772882e-04,  9.99967983e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01736155, -0.0517588 , -0.02470575])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 298 out of 14880 hypotheses for montys_heart (evidence > 3.2788765161843294)
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: 14.628
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4468 out of 14864 hypotheses for hot_sauce (evidence > 3.2788765161843294)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 13.916
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6551 out of 16976 hypotheses for mustard_bottle (evidence > 3.2788765161843294)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 15.853
INFO:root:Testing 185 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2788765161843294)
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: 10.29
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 3.2788765161843294)
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: 14.221
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.62838231  0.17560741 13.91557353  0.72679572
  0.23157774 15.85281222 10.29046144 14.22071132]
DEBUG:root:mean evidence: 7.049, std: 6.862 -> th=12.682249773943948
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.85
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.62838231  0.17560741 13.91557353  0.72679572
  0.23157774 15.85281222 10.29046144 14.22071132]
DEBUG:root:mean evidence: 7.049, std: 6.862 -> th=12.682249773943948
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.62838231  0.17560741 13.91557353  0.72679572
  0.23157774 15.85281222 10.29046144 14.22071132]
DEBUG:root:mean evidence: 7.049, std: 6.862 -> th=13.474890384815446
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.99184224, -0.02182132, -0.12558979],
       [ 0.02199548,  0.99975807, -0.        ],
       [ 0.1255594 , -0.00276241,  0.99208226]]), 'pose_fully_defined': False}}, {'patch': array([-0.00188525,  0.00512619, -0.00713375])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 295 out of 14880 hypotheses for montys_heart (evidence > 3.170562443485986)
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: 13.628
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4414 out of 14864 hypotheses for hot_sauce (evidence > 3.170562443485986)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 14.275
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6365 out of 16976 hypotheses for mustard_bottle (evidence > 3.170562443485986)
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: 16.087
INFO:root:Testing 832 out of 17728 hypotheses for tuna_fish_can (evidence > 3.170562443485986)
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: 10.486
INFO:root:Testing 93 out of 19024 hypotheses for potted_meat_can (evidence > 3.170562443485986)
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: 14.503
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.62838231  0.17560741 14.27453788  0.72679572
  0.23157774 16.08661943 10.48616081 14.5030213 ]
DEBUG:root:mean evidence: 7.056, std: 6.866 -> th=12.869295542763762
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:54662 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.99482085, -0.02850112, -0.09756624],
       [ 0.02863775,  0.99958986, -0.        ],
       [ 0.09752623, -0.00279408,  0.99522903]]), 'pose_fully_defined': False}}, {'patch': array([-0.01116131,  0.0250458 ,  0.00855052])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 276 out of 14880 hypotheses for montys_heart (evidence > 3.2173238856909396)
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: 14.039
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1691 out of 14864 hypotheses for hot_sauce (evidence > 3.2173238856909396)
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: 14.644
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2641 out of 16976 hypotheses for mustard_bottle (evidence > 3.2173238856909396)
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: 16.432
INFO:root:Testing 193 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2173238856909396)
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: 10.829
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.2173238856909396)
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: 14.816
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.03899837  0.17560741 14.643728    0.72679572
  0.23157774 16.43154233 10.82922918 14.8158489 ]
DEBUG:root:mean evidence: 7.234, std: 7.041 -> th=13.145233865388104
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:54662 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.26079955, -0.00931181, -0.96534806],
       [ 0.0356821 ,  0.99936319, -0.        ],
       [ 0.96473332, -0.03444564,  0.26096574]]), 'pose_fully_defined': False}}, {'patch': array([-0.00023543,  0.01855443, -0.00180953])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 275 out of 14880 hypotheses for montys_heart (evidence > 3.286308466347025)
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: 14.276
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1689 out of 14864 hypotheses for hot_sauce (evidence > 3.286308466347025)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 14.85
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2630 out of 16976 hypotheses for mustard_bottle (evidence > 3.286308466347025)
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: 16.796
INFO:root:Testing 188 out of 17728 hypotheses for tuna_fish_can (evidence > 3.286308466347025)
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: 10.667
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.286308466347025)
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: 15.166
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.27615457  0.17560741 14.84976084  0.72679572
  0.23157774 16.79552507 10.66667474 15.16628812]
DEBUG:root:mean evidence: 7.334, std: 7.163 -> th=13.436420056391189
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:54662 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 9.72784627e-01,  9.68203963e-04, -2.31709154e-01],
       [-9.95290691e-04,  9.99999505e-01,  0.00000000e+00],
       [ 2.31709039e-01,  2.30617964e-04,  9.72785109e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00254898,  0.01049718, -0.00019564])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 273 out of 14880 hypotheses for montys_heart (evidence > 3.3591050140977963)
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: 14.726
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1623 out of 14864 hypotheses for hot_sauce (evidence > 3.3591050140977963)
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: 15.108
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2581 out of 16976 hypotheses for mustard_bottle (evidence > 3.3591050140977963)
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: 17.058
INFO:root:Testing 182 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3591050140977963)
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: 10.964
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.3591050140977963)
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: 15.114
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.7259694   0.17560741 15.10770886  0.72679572
  0.23157774 17.05814679 10.96405419 15.1140528 ]
DEBUG:root:mean evidence: 7.455, std: 7.278 -> th=13.646517428936539
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.97580567, -0.0274804 , -0.21690577],
       [ 0.0281506 ,  0.99960369, -0.        ],
       [ 0.21681981, -0.00610603,  0.97619254]]), 'pose_fully_defined': False}}, {'patch': array([0.00215192, 0.007021  , 0.00291895])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 261 out of 14880 hypotheses for montys_heart (evidence > 3.4116293572341334)
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: 15.167
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1416 out of 14864 hypotheses for hot_sauce (evidence > 3.4116293572341334)
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: 14.599
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2477 out of 16976 hypotheses for mustard_bottle (evidence > 3.4116293572341334)
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: 17.507
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4116293572341334)
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: 11.235
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.4116293572341334)
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: 15.364
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.16662523  0.17560741 14.59885288  0.72679572
  0.23157774 17.50671685 11.23532962 15.36381729]
DEBUG:root:mean evidence: 7.545, std: 7.371 -> th=14.00537348015136
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:54662 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 9.73583750e-01,  9.88108727e-04, -2.28328065e-01],
       [-1.01491856e-03,  9.99999485e-01,  0.00000000e+00],
       [ 2.28327947e-01,  2.31734391e-04,  9.73584252e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00907968,  0.01253873, -0.00044603])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 250 out of 14880 hypotheses for montys_heart (evidence > 3.501343370037839)
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: 15.506
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1107 out of 14864 hypotheses for hot_sauce (evidence > 3.501343370037839)
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: 14.933
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2317 out of 16976 hypotheses for mustard_bottle (evidence > 3.501343370037839)
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: 17.679
INFO:root:Testing 130 out of 17728 hypotheses for tuna_fish_can (evidence > 3.501343370037839)
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: 11.354
INFO:root:Testing 73 out of 19024 hypotheses for potted_meat_can (evidence > 3.501343370037839)
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: 15.29
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.50649589  0.17560741 14.93347705  0.72679572
  0.23157774 17.67899544 11.35368017 15.28951489]
DEBUG:root:mean evidence: 7.634, std: 7.46 -> th=14.143196348022798
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.68
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.50649589  0.17560741 14.93347705  0.72679572
  0.23157774 17.67899544 11.35368017 15.28951489]
DEBUG:root:mean evidence: 7.634, std: 7.46 -> th=14.143196348022798
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.50649589  0.17560741 14.93347705  0.72679572
  0.23157774 17.67899544 11.35368017 15.28951489]
DEBUG:root:mean evidence: 7.634, std: 7.46 -> th=15.027146119774223
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.93469325, -0.00336177, -0.35543948],
       [ 0.00359664,  0.99999353, -0.        ],
       [ 0.35543718, -0.00127839,  0.9346993 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00065556,  0.00877501, -0.00047996])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 230 out of 14880 hypotheses for montys_heart (evidence > 3.5357990870056994)
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: 15.876
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 769 out of 14864 hypotheses for hot_sauce (evidence > 3.5357990870056994)
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: 15.29
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2115 out of 16976 hypotheses for mustard_bottle (evidence > 3.5357990870056994)
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: 17.942
INFO:root:Testing 122 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5357990870056994)
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: 11.174
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 3.5357990870056994)
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: 14.815
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.8764805   0.17560741 15.29011427  0.72679572
  0.23157774 17.94218589 11.17357006 14.81491961]
DEBUG:root:mean evidence: 7.668, std: 7.516 -> th=14.353748715812873
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.94
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.8764805   0.17560741 15.29011427  0.72679572
  0.23157774 17.94218589 11.17357006 14.81491961]
DEBUG:root:mean evidence: 7.668, std: 7.516 -> th=14.353748715812873
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 15.8764805   0.17560741 15.29011427  0.72679572
  0.23157774 17.94218589 11.17357006 14.81491961]
DEBUG:root:mean evidence: 7.668, std: 7.516 -> th=15.250858010551177
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:54662 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.83488101, -0.04765522, -0.54836364],
       [ 0.05698749,  0.99837489, -0.        ],
       [ 0.54747249, -0.03124987,  0.83623999]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00787463, -0.05749075, -0.00989408])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 202 out of 14880 hypotheses for montys_heart (evidence > 3.5884371789532175)
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: 14.876
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 596 out of 14864 hypotheses for hot_sauce (evidence > 3.5884371789532175)
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: 15.694
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1841 out of 16976 hypotheses for mustard_bottle (evidence > 3.5884371789532175)
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: 18.258
INFO:root:Testing 90 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5884371789532175)
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: 11.255
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 3.5884371789532175)
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: 14.928
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.8764805   0.17560741 15.69406157  0.72679572
  0.23157774 18.25758847 11.25467902 14.92808079]
DEBUG:root:mean evidence: 7.659, std: 7.514 -> th=14.60607077414826
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.26
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.8764805   0.17560741 15.69406157  0.72679572
  0.23157774 18.25758847 11.25467902 14.92808079]
DEBUG:root:mean evidence: 7.659, std: 7.514 -> th=14.60607077414826
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.8764805   0.17560741 15.69406157  0.72679572
  0.23157774 18.25758847 11.25467902 14.92808079]
DEBUG:root:mean evidence: 7.659, std: 7.514 -> th=15.518950197532526
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.94452257, -0.03384394, -0.32669819],
       [ 0.03580882,  0.99935866, -0.        ],
       [ 0.32648866, -0.01169868,  0.94512872]]), 'pose_fully_defined': False}}, {'patch': array([-0.02013206, -0.01174838,  0.01562615])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 202 out of 14880 hypotheses for montys_heart (evidence > 3.6515176935370643)
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: 14.544
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 570 out of 14864 hypotheses for hot_sauce (evidence > 3.6515176935370643)
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: 14.694
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1818 out of 16976 hypotheses for mustard_bottle (evidence > 3.6515176935370643)
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: 17.258
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6515176935370643)
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: 10.804
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 3.6515176935370643)
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: 13.928
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.54406022  0.17560741 14.69406157  0.72679572
  0.23157774 17.25758847 10.80440514 13.92808079]
DEBUG:root:mean evidence: 7.281, std: 7.117 -> th=13.806070774148258
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.9984186 , -0.04938964, -0.02685072],
       [ 0.04940746,  0.99877871, -0.        ],
       [ 0.02681792, -0.00132663,  0.99963945]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00138729, -0.01585853, -0.00024904])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 195 out of 14880 hypotheses for montys_heart (evidence > 3.4515176935370633)
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: 14.63
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 583 out of 14864 hypotheses for hot_sauce (evidence > 3.4515176935370633)
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: 13.694
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1692 out of 16976 hypotheses for mustard_bottle (evidence > 3.4515176935370633)
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: 16.258
INFO:root:Testing 74 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4515176935370633)
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: 10.759
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 3.4515176935370633)
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: 13.815
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.63023868  0.17560741 13.69406157  0.72679572
  0.23157774 16.25758847 10.75889643 13.81513472]
DEBUG:root:mean evidence: 7.074, std: 6.876 -> th=13.00607077414826
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.93201963, -0.05763236, -0.35779593],
       [ 0.06171811,  0.99809362, -0.        ],
       [ 0.35711383, -0.02208249,  0.9337998 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00023211,  0.0020019 , -0.00462279])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 200 out of 14880 hypotheses for montys_heart (evidence > 3.251517693537064)
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: 14.746
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 714 out of 14864 hypotheses for hot_sauce (evidence > 3.251517693537064)
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: 12.694
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1659 out of 16976 hypotheses for mustard_bottle (evidence > 3.251517693537064)
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: 15.258
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 3.251517693537064)
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: 10.673
INFO:root:Testing 61 out of 19024 hypotheses for potted_meat_can (evidence > 3.251517693537064)
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: 13.831
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.74616969  0.17560741 12.69406157  0.72679572
  0.23157774 15.25758847 10.67280705 13.83059339]
DEBUG:root:mean evidence: 6.878, std: 6.665 -> th=12.206070774148259
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:54662 - "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([[ 0.91585771, -0.05102782, -0.39824719],
       [ 0.05562961,  0.99845147, -0.        ],
       [ 0.39763049, -0.02215433,  0.91727813]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00013263,  0.00511023, -0.00162654])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 202 out of 14880 hypotheses for montys_heart (evidence > 3.0515176935370647)
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: 14.872
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1331 out of 14864 hypotheses for hot_sauce (evidence > 3.0515176935370647)
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: 12.289
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2241 out of 16976 hypotheses for mustard_bottle (evidence > 3.0515176935370647)
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: 14.258
INFO:root:Testing 1395 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0515176935370647)
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: 10.247
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 3.0515176935370647)
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: 13.867
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.87194792  0.17560741 12.28872044  0.72679572
  0.23157774 14.25758847 10.24745245 13.86727239]
DEBUG:root:mean evidence: 6.711, std: 6.504 -> th=11.897558334911853
INFO:root:current most likely hypothesis: montys_heart with evidence 14.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:54666 - "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([[ 0.84685946,  0.0641926 , -0.52792836],
       [-0.07558394,  0.99713944,  0.        ],
       [ 0.5264182 ,  0.03990291,  0.8492889 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01721009,  0.0113316 , -0.01383652])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 197 out of 14880 hypotheses for montys_heart (evidence > 2.9743895837279624)
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: 13.872
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1264 out of 14864 hypotheses for hot_sauce (evidence > 2.9743895837279624)
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: 12.044
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1966 out of 16976 hypotheses for mustard_bottle (evidence > 2.9743895837279624)
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: 14.532
INFO:root:Testing 960 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9743895837279624)
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: 10.319
INFO:root:Testing 631 out of 19024 hypotheses for potted_meat_can (evidence > 2.9743895837279624)
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: 12.867
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.87194792  0.17560741 12.04423373  0.72679572
  0.23157774 14.53165906 10.31897074 12.86727239]
DEBUG:root:mean evidence: 6.522, std: 6.294 -> th=11.625327245528254
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:54666 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54666 - "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([[ 0.82683427,  0.07157815, -0.55787243],
       [-0.08624635,  0.99627384,  0.        ],
       [ 0.55579371,  0.04811446,  0.82992671]]), 'pose_fully_defined': False}}, {'patch': array([-0.00617967,  0.02785886,  0.00291359])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 190 out of 14880 hypotheses for montys_heart (evidence > 2.9063318113820635)
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: 14.363
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1758 out of 14864 hypotheses for hot_sauce (evidence > 2.9063318113820635)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 12.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1787 out of 16976 hypotheses for mustard_bottle (evidence > 2.9063318113820635)
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: 14.785
INFO:root:Testing 822 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9063318113820635)
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: 9.319
INFO:root:Testing 856 out of 19024 hypotheses for potted_meat_can (evidence > 2.9063318113820635)
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: 12.967
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.36306934  0.17560741 12.40285453  0.72679572
  0.23157774 14.78472949  9.31897074 12.96742335]
DEBUG:root:mean evidence: 6.542, std: 6.376 -> th=11.827783594258184
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.78
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.36306934  0.17560741 12.40285453  0.72679572
  0.23157774 14.78472949  9.31897074 12.96742335]
DEBUG:root:mean evidence: 6.542, std: 6.376 -> th=11.827783594258184
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.36306934  0.17560741 12.40285453  0.72679572
  0.23157774 14.78472949  9.31897074 12.96742335]
DEBUG:root:mean evidence: 6.542, std: 6.376 -> th=12.567020068899321
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:54666 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54666 - "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([[ 0.77947092,  0.09623927, -0.61900168],
       [-0.12253697,  0.99246395,  0.        ],
       [ 0.61433685,  0.07585059,  0.78538966]]), 'pose_fully_defined': False}}, {'patch': array([-0.00505536,  0.01789573, -0.0025262 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 187 out of 14880 hypotheses for montys_heart (evidence > 2.9569458985645447)
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: 14.813
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 1256 out of 14864 hypotheses for hot_sauce (evidence > 2.9569458985645447)
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: 12.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1209 out of 16976 hypotheses for mustard_bottle (evidence > 2.9569458985645447)
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: 13.785
INFO:root:Testing 176 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9569458985645447)
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: 9.069
INFO:root:Testing 297 out of 19024 hypotheses for potted_meat_can (evidence > 2.9569458985645447)
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: 13.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 14.81265724  0.17560741 12.00853496  0.72679572
  0.23157774 13.78472949  9.06933154 13.11174034]
DEBUG:root:mean evidence: 6.437, std: 6.278 -> th=11.850125795394584
INFO:root:current most likely hypothesis: montys_heart with evidence 14.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.28696094,  0.17666021, -0.94151186],
       [-0.52424565,  0.85156709,  0.        ],
       [ 0.80176051,  0.4935835 ,  0.33697984]]), 'pose_fully_defined': False}}, {'patch': array([-0.00887355, -0.03283996, -0.01698657])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 136 out of 14880 hypotheses for montys_heart (evidence > 2.9625314488486456)
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: 13.813
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 700 out of 14864 hypotheses for hot_sauce (evidence > 2.9625314488486456)
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: 11.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 873 out of 16976 hypotheses for mustard_bottle (evidence > 2.9625314488486456)
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: 12.785
INFO:root:Testing 76 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9625314488486456)
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: 9.4
INFO:root:Testing 157 out of 19024 hypotheses for potted_meat_can (evidence > 2.9625314488486456)
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: 12.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.81265724  0.17560741 11.00853496  0.72679572
  0.23157774 12.78472949  9.40027246 12.11174034]
DEBUG:root:mean evidence: 6.07, std: 5.855 -> th=11.050125795394584
INFO:root:current most likely hypothesis: montys_heart with evidence 13.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:54667 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54668 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.35956862,  0.14710202, -0.92145071],
       [-0.37864555,  0.92554176,  0.        ],
       [ 0.85284111,  0.34890321,  0.38849529]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00653203, -0.01347437, -0.00179517])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 192 out of 14880 hypotheses for montys_heart (evidence > 2.7625314488486445)
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: 12.813
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 3277 out of 14864 hypotheses for hot_sauce (evidence > 2.7625314488486445)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2573 out of 16976 hypotheses for mustard_bottle (evidence > 2.7625314488486445)
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: 12.246
INFO:root:Testing 1653 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7625314488486445)
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: 9.603
INFO:root:Testing 1222 out of 19024 hypotheses for potted_meat_can (evidence > 2.7625314488486445)
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: 11.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.81265724  0.17560741 10.00853496  0.72679572
  0.23157774 12.24573281  9.60328563 11.11174034]
DEBUG:root:mean evidence: 5.736, std: 5.492 -> th=10.250125795394585
INFO:root:current most likely hypothesis: montys_heart with evidence 12.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.48797907,  0.06955822, -0.87007936],
       [-0.14111701,  0.98999292,  0.        ],
       [ 0.86137241,  0.122783  ,  0.49291167]]), 'pose_fully_defined': False}}, {'patch': array([0.00275459, 0.01956788, 0.00672855])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 208 out of 14880 hypotheses for montys_heart (evidence > 2.5625314488486453)
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: 12.663
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4183 out of 14864 hypotheses for hot_sauce (evidence > 2.5625314488486453)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 5173 out of 16976 hypotheses for mustard_bottle (evidence > 2.5625314488486453)
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: 11.376
INFO:root:Testing 2903 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5625314488486453)
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: 9.376
INFO:root:Testing 11255 out of 19024 hypotheses for potted_meat_can (evidence > 2.5625314488486453)
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: 10.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.66263789  0.17560741  9.00853496  0.72679572
  0.23157774 11.37616833  9.37641165 10.11174034]
DEBUG:root:mean evidence: 5.412, std: 5.186 -> th=10.130110312574272
INFO:root:current most likely hypothesis: montys_heart with evidence 12.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:54667 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.4731848 ,  0.095904  , -0.87572745],
       [-0.19863887,  0.98007275,  0.        ],
       [ 0.85827662,  0.17395351,  0.48280579]]), 'pose_fully_defined': False}}, {'patch': array([-0.00790577,  0.02886532,  0.00278186])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 153 out of 14880 hypotheses for montys_heart (evidence > 2.5325275781435668)
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: 13.122
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2081 out of 14864 hypotheses for hot_sauce (evidence > 2.5325275781435668)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 2927 out of 16976 hypotheses for mustard_bottle (evidence > 2.5325275781435668)
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: 10.376
INFO:root:Testing 1664 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5325275781435668)
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: 9.555
INFO:root:Testing 3019 out of 19024 hypotheses for potted_meat_can (evidence > 2.5325275781435668)
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: 9.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 13.12246384  0.17560741  8.00853496  0.72679572
  0.23157774 10.37616833  9.55460265  9.11174034]
DEBUG:root:mean evidence: 5.176, std: 5.012 -> th=10.497971072367253
INFO:root:current most likely hypothesis: montys_heart with evidence 13.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:54667 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.58535802,  0.0951584 , -0.80517133],
       [-0.16045803,  0.98704266,  0.        ],
       [ 0.79473845,  0.12919621,  0.59304227]]), 'pose_fully_defined': False}}, {'patch': array([0.00301571, 0.01657494, 0.00536273])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 83 out of 14880 hypotheses for montys_heart (evidence > 2.6244927680918124)
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: 12.122
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 283 out of 14864 hypotheses for hot_sauce (evidence > 2.6244927680918124)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.009
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 1134 out of 16976 hypotheses for mustard_bottle (evidence > 2.6244927680918124)
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: 9.376
INFO:root:Testing 566 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6244927680918124)
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: 9.587
INFO:root:Testing 933 out of 19024 hypotheses for potted_meat_can (evidence > 2.6244927680918124)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.12246384  0.17560741  7.00853496  0.72679572
  0.23157774  9.37616833  9.58698255  8.11174034]
DEBUG:root:mean evidence: 4.779, std: 4.627 -> th=9.697971072367253
INFO:root:current most likely hypothesis: montys_heart with evidence 12.12
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.12246384  0.17560741  7.00853496  0.72679572
  0.23157774  9.37616833  9.58698255  8.11174034]
DEBUG:root:mean evidence: 4.779, std: 4.627 -> th=9.697971072367253
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 12.12246384  0.17560741  7.00853496  0.72679572
  0.23157774  9.37616833  9.58698255  8.11174034]
DEBUG:root:mean evidence: 4.779, std: 4.627 -> th=10.304094264390205
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: {'montys_heart'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.34674627,  0.12275081, -0.92989207],
       [-0.3337139 ,  0.9426744 ,  0.        ],
       [ 0.87658545,  0.31031791,  0.36783249]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00497845, -0.06334369, -0.01188934])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 137 out of 14880 hypotheses for montys_heart (evidence > 2.424492768091813)
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: 11.122
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 2505 out of 14864 hypotheses for hot_sauce (evidence > 2.424492768091813)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 6.402
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 3975 out of 16976 hypotheses for mustard_bottle (evidence > 2.424492768091813)
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: 9.796
INFO:root:Testing 2557 out of 17728 hypotheses for tuna_fish_can (evidence > 2.424492768091813)
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: 9.826
INFO:root:Testing 1638 out of 19024 hypotheses for potted_meat_can (evidence > 2.424492768091813)
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: 7.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 11.12246384  0.17560741  6.40237193  0.72679572
  0.23157774  9.79614374  9.82627414  7.11174034]
DEBUG:root:mean evidence: 4.584, std: 4.454 -> th=8.897971072367252
INFO:root:current most likely hypothesis: montys_heart with evidence 11.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:54667 - "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([[ 0.39815424,  0.08535949, -0.91333836],
       [-0.20962472,  0.97778192,  0.        ],
       [ 0.89304573,  0.1914583 ,  0.40720147]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00188925, -0.01101721, -0.00167375])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.278
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.17
INFO:root:Testing 539 out of 14880 hypotheses for montys_heart (evidence > 2.224492768091812)
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: 10.122
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.176
INFO:root:Testing 4380 out of 14864 hypotheses for hot_sauce (evidence > 2.224492768091812)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 6.809
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.727
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.232
INFO:root:Testing 6171 out of 16976 hypotheses for mustard_bottle (evidence > 2.224492768091812)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.02
INFO:root:Testing 12420 out of 17728 hypotheses for tuna_fish_can (evidence > 2.224492768091812)
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: 9.971
INFO:root:Testing 2261 out of 19024 hypotheses for potted_meat_can (evidence > 2.224492768091812)
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: 6.112
DEBUG:root:evidences for each object: [ 0.27781019  0.16999185 10.12246384  0.17560741  6.80893295  0.72679572
  0.23157774 10.02002115  9.97142691  6.11174034]
DEBUG:root:mean evidence: 4.462, std: 4.332 -> th=8.097971072367253
INFO:root:current most likely hypothesis: montys_heart with evidence 10.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:54667 - "POST /capture HTTP/1.1" 200
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_learning/tbp_mug/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_learning/tbp_mug/log.txt (NOTSET)>
